{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Kalman Filter and your Matrix Class\n",
    "\n",
    "Once you have a working matrix class, you can use the class to run a Kalman filter! \n",
    "\n",
    "You will need to put your matrix class into the workspace:\n",
    "* Click above on the \"JUPYTER\" logo. \n",
    "* Then open the matrix.py file, and copy in your code there. \n",
    "* Make sure to save the matrix.py file. \n",
    "* Then click again on the \"JUPYTER\" logo and open this file again.\n",
    "\n",
    "You can also download this file kalman_filter_demo.ipynb and run the demo locally on your own computer.\n",
    "\n",
    "Once you have our matrix class loaded, you are ready to go through the demo. Read through this file and run each cell one by one. You do not need to write any code in this Ipython notebook.\n",
    "\n",
    "The demonstration has two different sections. The first section creates simulated data. The second section runs a Kalman filter on the data and visualizes the results."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Kalman Filters - Why are they useful?\n",
    "\n",
    "Kalman filters are really good at taking noisy sensor data and smoothing out the data to make more accurate predictions. For autonomous vehicles, Kalman filters can be used in object tracking. \n",
    "\n",
    "\n",
    "### Kalman Filters and Sensors\n",
    "Object tracking is often done with radar and lidar sensors placed around the vehicle. A radar sensor can directly measure the distance and velocity of objects moving around the vehicle. A lidar sensor only measures distance.\n",
    "\n",
    "Put aside a Kalman filter for a minute and think about how you could use lidar data to track an object. Let's say there is a bicyclist riding around in front of you. You send out a lidar signal and receive the signal back. The lidar sensor tells you that the bicycle is 10 meters directly ahead of you but gives you no velocity information.\n",
    "\n",
    "By the time your lidar device sends out another signal, maybe 0.05 seconds will have passed. But during those 0.05 seconds, your vehicle still needs to keep track of the bicycle. So your vehicle will predict where it thinks the bycicle will be. But your vehicle has no bicycle velocity information.\n",
    "\n",
    "After 0.05 seconds, the lidar device sends out and receives another signal. This time, the bicycle is 9.95 meters ahead of you. Now you know that the bicycle is traveling -1 meter per second towards you. For the next 0.05 seconds, your vehicle will assume the bicycle is traveling -1 m/s towards you. Then another lidar signal goes out and comes back, and you can update the position and velocity again.\n",
    "\n",
    "### Sensor Noise\n",
    "Unfortunately, lidar and radar signals are noisy. In other words, they are somewhat inacurrate. A Kalman filter helps to smooth out the noise so that you get a better fix on the bicycle's true position and velocity. \n",
    "\n",
    "A Kalman filter does this by weighing the uncertainty in your belief about the location versus the uncertainty in the lidar or radar measurement. If your belief is very uncertain, the Kalman filter gives more weight to the sensor. If the sensor measurement has more uncertainty, your belief about the location gets more weight than the sensor mearuement. \n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Part 1 - Generate Data\n",
    "\n",
    "The next few cells in the Ipython notebook generate simulation data. Imagine you are in a vehicle and tracking another car in front of you. All of the data you track will be relative to your position.  \n",
    "\n",
    "In this simulation, you are on a one-dimensional road where the car you are tracking can only move forwards or backwards. For this simulated data, the tracked vehicle starts 5 meters ahead of you traveling at 100 km/h. The vehicle is accelerating at -10 m/s^2. In other words, the vehicle is slowing down. \n",
    "\n",
    "Once the vehicle stops at 0 km/h, the car stays idle for 5 seconds. Then the vehicle continues accelerating towards you until the vehicle is traveling at -10 km/h. The vehicle travels at -10 km/h for 5 seconds. Don't worry too much about the trajectory of the other vehicle; this will be displayed for you in a visualization\n",
    "\n",
    "\n",
    "You have a single lidar sensor on your vehicle that is tracking the other car. The lidar sensor takes a measurment once every 50 milliseconds.\n",
    "\n",
    "Run the code cell below to start the simulator and collect data about the tracked car. Notice the line \n",
    "`import matrix as m`, which imports your matrix code from the final project. You will not see any output yet when running this cell."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [],
   "source": [
    "%matplotlib inline\n",
    "\n",
    "import pandas as pd\n",
    "import math\n",
    "import matplotlib.pyplot as plt\n",
    "import matplotlib\n",
    "import datagenerator\n",
    "import matrix as m\n",
    "\n",
    "matplotlib.rcParams.update({'font.size': 16})\n",
    "\n",
    "# data_groundtruth() has the following inputs:\n",
    "# Generates Data\n",
    "# Input variables are:\n",
    "# initial position meters\n",
    "# initial velocity km/h\n",
    "# final velocity (should be a negative number) km/h\n",
    "# acceleration (should be a negative number) m/s^2\n",
    "# how long the vehicle should idle \n",
    "# how long the vehicle should drive in reverse at constant velocity\n",
    "# time between lidar measurements in milliseconds\n",
    "\n",
    "time_groundtruth, distance_groundtruth, velocity_groundtruth, acceleration_groundtruth = datagenerator.generate_data(5, 100, -10, -10,\n",
    "                                                                                              5000, 5000, 50)\n",
    "data_groundtruth = pd.DataFrame(\n",
    "    {'time': time_groundtruth,\n",
    "     'distance': distance_groundtruth,\n",
    "     'velocity': velocity_groundtruth,\n",
    "     'acceleration': acceleration_groundtruth\n",
    "    })"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Visualizing the Tracked Object Distance\n",
    "\n",
    "The next cell visualizes the simulating data. The first visualization shows the object distance over time. You can see that the car is moving forward although decelerating. Then the car stops for 5 seconds and then drives backwards for 5 seconds."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[Text(0, 0.5, 'distance (meters)'), Text(0.5, 0, 'time (milliseconds)')]"
      ]
     },
     "execution_count": 13,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "ax1 = data_groundtruth.plot(kind='line', x='time', y='distance', title='Object Distance Versus Time')\n",
    "ax1.set(xlabel='time (milliseconds)', ylabel='distance (meters)')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Visualizing Velocity Over Time\n",
    "\n",
    "The next cell outputs a visualization of the velocity over time. The tracked car starts at 100 km/h and decelerates to 0 km/h. Then the car idles and eventually starts to decelerate again until reaching -10 km/h. "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[Text(0, 0.5, 'velocity (km/h)'), Text(0.5, 0, 'time (milliseconds)')]"
      ]
     },
     "execution_count": 16,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "ax2 = data_groundtruth.plot(kind='line', x='time', y='velocity', title='Object Velocity Versus Time')\n",
    "ax2.set(xlabel='time (milliseconds)', ylabel='velocity (km/h)')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Visualizing Acceleration Over Time\n",
    "\n",
    "This cell visualizes the tracked cars acceleration. The vehicle declerates at 10 m/s^2. Then the vehicle stops for 5 seconds and briefly accelerates again. "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[Text(0, 0.5, 'acceleration (m/s^2)'), Text(0.5, 0, 'time (milliseconds)')]"
      ]
     },
     "execution_count": 17,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "data_groundtruth['acceleration'] = data_groundtruth['acceleration'] * 1000 / math.pow(60 * 60, 2)\n",
    "ax3 = data_groundtruth.plot(kind='line', x='time', y='acceleration', title='Object Acceleration Versus Time')\n",
    "ax3.set(xlabel='time (milliseconds)', ylabel='acceleration (m/s^2)')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Simulate Lidar Data"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "The following code cell creates simulated lidar data. Lidar data is noisy, so the simulator takes ground truth measurements every 0.05 seconds and then adds random noise."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [],
   "source": [
    "# make lidar measurements\n",
    "lidar_standard_deviation = 0.15\n",
    "lidar_measurements = datagenerator.generate_lidar(distance_groundtruth, lidar_standard_deviation)\n",
    "lidar_time = time_groundtruth"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Visualize Lidar Meausrements\n",
    "\n",
    "Run the following cell to visualize the lidar measurements versus the ground truth. The ground truth is shown in red, and you can see that the lidar measurements are a bit noisy."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1440x1080 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "data_lidar = pd.DataFrame(\n",
    "    {'time': time_groundtruth,\n",
    "     'distance': distance_groundtruth,\n",
    "     'lidar': lidar_measurements\n",
    "    })\n",
    "\n",
    "matplotlib.rcParams.update({'font.size': 22})\n",
    "\n",
    "ax4 = data_lidar.plot(kind='line', x='time', y ='distance', label='ground truth', figsize=(20, 15), alpha=0.8,\n",
    "               title = 'Lidar Measurements Versus Ground Truth', color='red')\n",
    "ax5 = data_lidar.plot(kind='scatter', x ='time', y ='lidar', label='lidar measurements', ax=ax4, alpha=0.6, color='g')\n",
    "ax5.set(xlabel='time (milliseconds)', ylabel='distance (meters)')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Part 2 - Using a Kalman Filter\n",
    "\n",
    "The next part of the demonstration will use your matrix class to run a Kalman filter. This first cell initializes variables and defines a few functions.\n",
    "\n",
    "The following cell runs the Kalman filter using the lidar data.\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Kalman Filter Initialization\n",
    "\n",
    "initial_distance = 0\n",
    "initial_velocity = 0\n",
    "\n",
    "x_initial = m.Matrix([[initial_distance], [initial_velocity * 1e-3 / (60 * 60)]])\n",
    "P_initial = m.Matrix([[5, 0],[0, 5]])\n",
    "\n",
    "acceleration_variance = 50\n",
    "lidar_variance = math.pow(lidar_standard_deviation, 2)\n",
    "\n",
    "H = m.Matrix([[1, 0]])\n",
    "R = m.Matrix([[lidar_variance]])\n",
    "I = m.identity(2)\n",
    "\n",
    "def F_matrix(delta_t):\n",
    "    return m.Matrix([[1, delta_t], [0, 1]])\n",
    "\n",
    "def Q_matrix(delta_t, variance):\n",
    "    t4 = math.pow(delta_t, 4)\n",
    "    t3 = math.pow(delta_t, 3)\n",
    "    t2 = math.pow(delta_t, 2)\n",
    "    \n",
    "    return variance * m.Matrix([[(1/4)*t4, (1/2)*t3], [(1/2)*t3, t2]])"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Run the Kalman filter\n",
    "\n",
    "The next code cell runs the Kalman filter. In this demonstration, the prediction step starts with the second lidar measurement. When the first lidar signal arrives, there is no previous lidar measurement with which to calculate velocity. In other words, the Kalman filter predicts where the vehicle is going to be, but it can't make a prediction until time has passed between the first and second lidar reading. \n",
    "\n",
    "The Kalman filter has two steps: a prediction step and an update step. In the prediction step, the filter uses a motion model to figure out where the object has traveled in between sensor measurements. The update step uses the sensor measurement to adjust the belief about where the object is."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {},
   "outputs": [
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     ]
    }
   ],
   "source": [
    "# Kalman Filter Implementation\n",
    "\n",
    "x = x_initial\n",
    "P = P_initial\n",
    "\n",
    "x_result = []\n",
    "time_result = []\n",
    "v_result = []\n",
    "\n",
    "\n",
    "for i in range(len(lidar_measurements) - 1):\n",
    "        \n",
    "    # calculate time that has passed between lidar measurements\n",
    "    delta_t = (lidar_time[i + 1] - lidar_time[i]) / 1000.0\n",
    "\n",
    "    # Prediction Step - estimates how far the object traveled during the time interval\n",
    "    F = F_matrix(delta_t)\n",
    "    Q = Q_matrix(delta_t, acceleration_variance)\n",
    "    \n",
    "    x_prime = F * x\n",
    "    P_prime = F * P * F.T() + Q\n",
    "    \n",
    "    # Measurement Update Step - updates belief based on lidar measurement\n",
    "    y = m.Matrix([[lidar_measurements[i + 1]]]) - H * x_prime\n",
    "    S = H * P_prime * H.T() + R\n",
    "    print(S.inverse())\n",
    "    K = P_prime * H.T() * S.inverse()\n",
    "    x = x_prime + K * y\n",
    "    P = (I - K * H) * P_prime\n",
    "\n",
    "    # Store distance and velocity belief and current time\n",
    "    x_result.append(x[0][0])\n",
    "    v_result.append(3600.0/1000 * x[1][0])\n",
    "    time_result.append(lidar_time[i+1])\n",
    "    \n",
    "result = pd.DataFrame(\n",
    "    {'time': time_result,\n",
    "     'distance': x_result,\n",
    "     'velocity': v_result\n",
    "    })"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Visualize the Results\n",
    "\n",
    "The following code cell outputs a visualization of the Kalman filter. The chart contains ground turth, the lidar measurements, and the Kalman filter belief. Notice that the Kalman filter tends to smooth out the information obtained from the lidar measurement.\n",
    "\n",
    "It turns out that using multiple sensors like radar and lidar at the same time, will give even better results. Using more than one type of sensor at once is called sensor fusion, which you will learn about in the Self-Driving Car Engineer Nanodegree"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1584x1296 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "ax6 = data_lidar.plot(kind='line', x='time', y ='distance', label='ground truth', figsize=(22, 18), alpha=.3, title='Lidar versus Kalman Filter versus Ground Truth')\n",
    "ax7 = data_lidar.plot(kind='scatter', x ='time', y ='lidar', label='lidar sensor', ax=ax6)\n",
    "ax8 = result.plot(kind='scatter', x = 'time', y = 'distance', label='kalman', ax=ax7, color='r')\n",
    "ax8.set(xlabel='time (milliseconds)', ylabel='distance (meters)')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Visualize the Velocity\n",
    "\n",
    "One of the most interesting benefits of Kalman filters is that they can give you insights into variables that you\n",
    "cannot directly measured. Although lidar does not directly give velocity information, the Kalman filter can infer velocity from the lidar measurements.\n",
    "\n",
    "This visualization shows the Kalman filter velocity estimation versus the ground truth. The motion model used in this Kalman filter is relatively simple; it assumes velocity is constant and that acceleration a random noise. You can see that this motion model might be too simplistic because the Kalman filter has trouble predicting velocity as the object decelerates."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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BhJHM26tf1pvrr+nOAVO1AQAAAJgFYSTztm5dyWD/9tx37Cmt2gAAAABckTCSBRnsb2fqTM3HHzq53KUAAAAAsMIJI1mQV910bbZv6c6Bw/Ns1R4bSw4dalYAAAAAVjVhJAvStGq38smHn86pydNzu3l0NNmxI9m7t1lHR5emSAAAAABWBGEkC7a7v5XTZ2o+/uAcpmqPjSXDw8nERDI+3qzDw05IAgAAAKxiwsiVooPblV9547VpbZnjVO1jx5Lu7gv3urqafQAAAABWJWHkStDh7crr1pXs7m/l/oefzvMvzbJVu68vmZy8cG9qqtkHAAAAYFUSRi63VdKuvGegndNnaj4x26na7XYyMpL09CS9vc06MtLsAwAAALAqCSOX2yppV37FjVvSvnZj9s9lqvbQUHL8eLJvX7MODS1dgQAAAAAsuw3LXcCat0ralUtppmp/6DOP5bkXp3Ltpq7Z3dhuOw0JAAAAsEY4GbncVlG78p6BVs6cneNUbQAAAADWDGHkSrBK2pX7b9iSG3s3zm2qNgAAAABrhjbtlWIVtCuX0kzV/o1Pz7FVGwAAAIA1wclIFtWegVbOnq35mFZtAAAAAC4ijGRR7WxvyY29m3Lg8NhylwIAAADACiOMZFGVUrJnoJVPf/GZPPvi1HKXAwAAAMAKIoxk0Q0OtHK2JvcePbncpQAAAACwgggjWXR3tK7Jy67blP1atQEAAAA4jzCSRXeuVfuzj4xn/JRWbQAAAAAawkiWxOBAu2nVfvDE3G8eG0sOHWpWAAAAAFYNYSRLom/75ty8tSf7D88xjBwdTXbsSPbubdbR0aUpEAAAAICrThjJkiilZHCglc89Op5nTk3O7qaxsWR4OJmYSMbHm3V42AlJAAAAgFVCGMmS2TM9Vfue2U7VPnYs6e6+cK+rq9nXug0AAADQ8YSRLJnbtm3Ordvm0Krd15dMXnSKcmoquf9+rdsAAAAAq4AwkiVTSslgfzsPPDaep1+YRat2u52MjCQ9PUlvb7P++I8n3/M9WrcBAAAAVgFhJEtqsL+VWpODR2d5OnJoKDl+PNm3r1nf9KbLt24DAAAA0FE2LHcBrG63bd+c27ZtzsEjJ/LVr3/57G5qt5ufcy7Vut3Xt2g1AgAAAHB1OBnJkhscaOWBx57NyedfmvvNl2rdHhm5MKwEAAAAoCMII1ly51q1Zz1V+2IXt24PDS1ugQAAAABcFcJIltyt2zZnx/bNOTDbqdqX0m4nu3Y5EQkAAADQwYSRXBV7Blr5/OPP5sR8WrUBAAAAWBWEkVwVu/tbSZKDRxZwOhIAAACAjiaM5Kq45frNub11zcJatc83NpYcOtSsAAAAAHQEYSRXzWB/K3/0pecy9twCW7VHR5MdO5K9e5t1dHRxCgQAAABgSQkjuWp2DzSt2vccXcDpyLGxZHg4mZhIxsebdXjYCUkAAACADiCM5Kq5eWtP7mhfk/0LadU+dizp7r5wr6ur2QcAAABgRRNGclUN9rfyx196Lk8+++L8HtDXl0xOXrg3NdXsAwAAALCiCSO5qvYMtJMkB+Y7VbvdTkZGkp6epLe3WUdGmn0AAAAAVjRhJFfVTddtysANWxY2VXtoKDl+PNm3r1mHhhavQAAAAACWjDCSq253fyuHn3w+T8y3VTtpTkLu2uVEJAAAAEAHEUZy1Q1OT9Ve0OlIAAAAADqOMJKr7sbeTRm4ccv83xsJAAAAQEcSRrIs9gy0cuTJ5/P4+MRylwIAAADAVSKMZFns3qlVGwAAAGCtEUayLG7o3ZRX3nStVm0AAACANUQYybLZM9DKg2Mv5NFntGoDAAAArAXCSJbN3dOt2ge1agMAAACsCcJIlk372o15lVZtAAAAgDVDGMmyGhxo5aETL+SRp08tdykAAAAALDFhJMtqd/90q7bTkQAAAACrnjCSZdXasjGvfllv9ntvJAAAAMCqJ4xk2Q0OtHL85Kl88Smt2gAAAACrmTCSZXf3zu0pJQbZAAAAAKxywkiW3fYtG/Oal/fmgFZtAAAAgFVNGMmKsLu/lYefOpWHT2rVBgAAAFithJGsCLt3tlJKsv/I2HKXAgAAAMASEUayIlx/TXde8/LrcuDwidRal7scAAAAAJaAMJIVY89AK488PZHjWrUBAAAAViVhJCvG3Tu3Z11J9puqDQAAALAqCSNZMbZu7s7rbrkuBw6Pza9Ve2wsOXSoWQEAAABYcYSRrCiD/a089syLeejEC3O7cXQ02bEj2bu3WUdHl6ZAAAAAAOZNGMmKctcdrawrycG5tGqPjSXDw8nERDI+3qzDw05IAgAAAKwwwkhWlOs2d+X1t2zN/rlM1T52LOnuvnCvq6vZBwAAAGDFEEay4gwOtPL4+It5cLat2n19yeTkhXtTU80+AAAAACuGMJIV567pqdoHDs+yVbvdTkZGkp6epLe3WUdGmn0AAAAAVgxhJCtO76auvOHWObZqDw0lx48n+/Y169DQ0hYJAAAAwJwJI1mRBgfaeeLZF3N07PnZ39RuJ7t2OREJAAAAsEIJI1mR3nbHtqxbV7J/tq3aAAAAAKx4wkhWpGs3deWNt27NwSNzaNUGAAAAYEUTRrJiDfa38sSzL+XIk3No1QYAAABgxRJGsmK99Y5tWa9VGwAAAGDVEEayYl27qStvvG1rDmjVBgAAAFgVhJGsaHsGWhl77qX8yRPzbNUeG0sOHWpWAAAAAJaVMJIV7S23b8+G9SX7D88jTBwdTXbsSPbubdbR0cUvEAAAAIBZE0ayom3ZuCFvuu36HDxyImfPzqFVe2wsGR5OJiaS8fFmHR52QhIAAABgGQkjWfEG+1s58fxk/viJ52Z/07FjSXf3hXtdXc0+AAAAAMtCGMmK99Y7tqVrfcmBuUzV7utLJicv3JuaavYBAAAAWBbCSFa8zd0b8uYd1+fAXFq12+1kZCTp6Ul6e5t1ZKTZBwAAAGBZCCPpCIMD7Tz1wmS+8KVnZ3/T0FBy/Hiyb1+zDg0tXYEAAAAAXNGG5S4AZuMtfX/Wqv2al183+xvbbachAQAAAFYIJyPpCD3d67Orb1sOHj05t6naAAAAAKwYwkg6xu7+Vp5+YTKff3wOrdoAAAAArBjCSDrGrr5t6d6wLgeOzGGq9sXGxpJDh5oVAAAAgKtKGEnH6Olenzv7rs/BuUzVPt/oaLJjR7J3b7OOji5+kQAAAABcljCSjrKnv51nTk3lgcfm2Ko9NpYMDycTE8n4eLMODzshCQAAAHAVCSPpKHf2XZ+NG9Zl/5E5hojHjiXd3RfudXU1+wAAAABcFcJIOsqmrvXZdfu23Hv0ZM7MpVW7ry+ZnLxwb2qq2QcAAADgqhBG0nH29LfyzKmpfO7R8dnf1G4nIyNJT0/S29usIyPNPgAAAABXxYblLgDm6k07rs+mrmaq9pffunX2Nw4NJe98Z9Oa3dcniAQAAAC4ypyMpONs6lqfXX3bcs/RE3Nr1U6aAHLXLkEkAAAAwDIQRtKRBgdaeXbidD47l1ZtAAAAAJaVMJKO9OYd16ena30OHJ7jVO1LGRtLDh1qVgAAAACWjDCSjrRxw/q85fZtuefoyZw+c3b+DxodTXbsSPbubdbR0cUrEgAAAIALCCPpWIMDrTz34un84XxbtcfGkuHhZGIiGR9v1uFhJyQBAAAAlogwko71ptuaVu39f3Jifg84dizp7r5wr6ur2QcAAABg0Qkj6VjdG9blbXdsy8cePJmp+bRq9/Ulk5MX7k1NNfsAAAAALDphJB1tcKCd5186nT985Jm539xuJyMjSU9P0tvbrCMjzT4AAAAAi27DchcAC/GGW7dmc/f67D98Im/esW3uDxgaSt75zqY1u69PEAkAAACwhJyMpKM1rdrbc+/RebZqJ00AuWuXIBIAAABgiQkj6Xh7Blo5NXkmn/7iPFq1AQAAALhqhJF0vC+/dWuu2di0agMAAACwcgkj6Xhd69flrjta+diDJzN5ep6t2gAAAAAsOWEkq8LgwPZMTJ7Jpx5+erlLAQAAAOAyhJGsCl9+y9Zs2bghB49o1QYAAABYqYSRrAob1q/LXTu352MPPqVVGwAAAGCFEkayagwOtDIxdSb3a9UGAAAAWJGEkawar7/5uly7aUMOmKoNAAAAsCIJI1k1Nqxfl7t3bs8nHnoqL50+s9zlAAAAAHARYSSryuBAOxNTZ/LJ4wts1R4bSw4dalYAAAAAFoUwklXldTdfl96eBbZqj44mO3Yke/c26+jo4hUIAAAAsIYJI1lV1q8ruXtnK4eOPZUXp+bRqj02lgwPJxMTyfh4sw4POyEJAAAAsAiEkaw6g/2tvDh1NvfPp1X72LGku/vCva6uZh8AAACABRFGsuq89ubrsnVzV/YfmUerdl9fMjl54d7UVLMPAAAAwIIII1l11q8ruWvn9hx6aB6t2u12MjKS9PQkvb3NOjLS7AMAAACwIKsmjCyl9JRSvr+UcqiU8kwp5VQp5aFSyq+WUnZf4vp1pZRvL6XcV0p5vpQyXkrZX0oZWo76WVx7+tt56fTZHDr21NxvHhpKjh9P9u1r1iH/lwAAAABYDBuWu4DFUEq5Pcn/SNKf5Mkkv5/kpSR9Sd6V5DNJDp53/fokv57kryV5dvrejUn+QpJfLqXcVWv9rqv4J7DIXvPy3mzd3JUDh09kz8A8TjW223/+NOTYWPPuyL4+JyUBAAAA5qHjT0aWUq5J8rtpgsgfTnJLrfVdtda/UWt9S5KXJfmVi2777jRB5OeTvKLW+p5a619N8rokTyT5zlLKu67aH8GiW7euZHd/M1V7YnIeU7UvNjqa7NiR7N3brKOjC38mAAAAwBrT8WFkkn+cZGeS/1BrfV+tder8L2utJ2utf3Lu8/SpyO+f/vjeWusT5117OMkPTH/8R0tbNkttsL+VqTN1fq3a5xsbS4aHk4mJZHy8WYeHm30AAAAAZq2jw8hSSneSb57++KOzvO2uJDckeaTW+geX+P5Xk0wl2VVKuXnhVbJcXv2y3lx/TXcOzGeq9vmOHUu6uy/c6+pq9gEAAACYtU5/Z+Sbk2xP8sVa6xdKKXcn+erpvS8l+Z1a670X3fPG6fXQpR5Yaz1VSnkgyRumfx5dkspZcuvWlQz2b8/vfO5LmZg8k57u9fN7UF9fMjl54d7UVLMPAAAAwKx19MnINO94TJLDpZRfSDOk5geTfEuS9yW5p5Tya6WUnvPuuX16PT7Dcx++6Fo61GB/O1Nnaj7+0Mn5P6TdTkZGkp6epLe3WUdGDLEBAAAAmKNODyO3Ta9fkeQbkvxYmkE216eZov1okq9N8lPn3bNlen1hhuc+P71ee6kvSynfUkq5r5Ry35j3Bq5or7rp2mzf0p0DhxfYqj00lBw/nuzb16xDQ4tTIAAAAMAa0ulh5Ln6NyQZqbV+X631aK31mVrrh5J8TZKa5BtLKXdMX1um1zrff7TW+rO11jtrrXe2nY5b0ZpW7VY++fDTOTV5emEPa7eTXbuciAQAAACYp04PI5877/efu/jLWut9ST6Z5u98x0X3bLn4+vOc++65Ga6hQ+zub+X0mZqPP7jAqdoAAAAALEinh5HHzvv9octcc27/povu2THDc2+9xPPpUK+88dq0tizCVG0AAAAAFqTTw8j7z/t9+2WuaU2v594Dee6eXZe6uJSyOclrpz9+akHVsSKsW1eyu7+V+x9+Os+/tMBWbQAAAADmraPDyFrro0k+Pv3xL1z8fSnl+iRvmv543/R6b5Ink9xSSvmKSzz265J0JTk0/XxWgT0D7Zw+U/OJhUzVBgAAAGBBOjqMnPYvptf3lVLecG6zlLIpyQeSXJfmvZH3Jkmt9UyS/2f6sg+UUm44756BJD960XNZBV5x45a0r92Y/Qudqg0AAADAvHV8GFlr/XCSH0tyQ5KPl1L+oJTywSRHk/zNJI8mGaq1nj89+8eTfDjJq5McLqX8einlw0n+MM27JX+y1vqbV/PvYGmV0kzV/tTDz+S5F6eWuxwAAACANanjw8gkqbV+X5L3JDmY5HVJ/kqSU0n+TZI31loPX3T9mSRfk+Q7kxxJ8peSvD3NCcq/XWv9rqtXPVfLnoFWzpw1VRsAAABguWxY7gIWS631g0k+OIfrzyZ5//QPa0D/DVtyY+/GHDhyIu989Y3LXQ4AAADAmrMqTkbCbJTSTNX+1Be1agMAAAAsB2Eka8qegVbOnq2596ip2gAAAABXmzCSNWVne0tu7N2UA0dM1QYAAAC42oSRrCmllOwZaOUzX3wm4xNatQEAAACuJmEka86egVbO1iy8VXtsLDl0qFkBAAAAuCJhJGvO7a1r8vKtm3LgyAJCxNHRZMeOZO/eZh0dXbwCAQAAAFYpYSRrTiklg/2tfPaR8Yyfmker9thYMjycTEwk4+PNOjzshCQAAADAFQgjWZMGB9pNq/aD8xhkc+xY0t194V5XV7MPAAAAwGUJI1mT+rZvzs1be7L/8DzCyL6+ZHLywr2pqWYfAAAAgMsSRrImlVIyONDK5x4dzzOnJq98w/na7WRkJOnpSXp7m3VkpNkHAAAA4LKEkaxZ56Zq3zOfqdpDQ8nx48m+fc06NLT4BQIAAACsMsJI1qzbtm3Ordvm2aqdNCchd+1yIhIAAABgloSRrFnNVO12HnhsPE+/MMdWbQAAAADmTBjJmjbY30qtycGj8zwdCQAAAMCsCSNZ027bvjm3bducg0eEkQAAAABLTRjJmjc40MoDjz2bk8+/tNylAAAAAKxqwkjWvHOt2vOaqg0AAADArAkjWfNu3bY5O7ZvzoH5TtUGAAAAYFaEkZBkz0Arn3/82ZzQqg0AAACwZISRkGR3fytJDLIBAAAAWELCSEhyy/Wbc3vrGq3aAAAAAEtIGAnTBvtb+aMvPZex5xa5VXtsLDl0qFkBAAAA1jBhJEwbHFiCVu3R0WTHjmTv3mYdHV28ZwMAAAB0GGEkTHv51p7sbF+T/YvVqj02lgwPJxMTyfh4sw4POyEJAAAArFnCSDjP4EA7f/LEc3ni2RcX/rBjx5Lu7gv3urqafQAAAIA1SBgJ5xlczKnafX3J5OSFe1NTzT4AAADAGiSMhPPcdN2mDNywZXGmarfbychI0tOT9PY268hIsw8AAACwBgkj4SK7+1s5/OTzi9OqPTSUHD+e7NvXrENDzb4J2wAAAMAaJIyEi5ybqr0opyOT5iTkrl1/diLShG0AAABgjRJGwkVu7N2UgRu35MBivDfyYiZsAwAAAGuYMBIuYc9AK0eefD6Pj08s7oNN2AYAAADWMGEkXMLunfNs1b7SuyBN2AYAAADWMGEkXMINvZvyypuunVur9mzeBWnCNgAAALCGCSPhMvYMtPLg2At59JlZtGrP5V2Ql5uwDQAAALDKCSPhMu6ebtU+OJtW7bm+C/LiCdsAAAAAa4AwEi6jfe3GvGq2rdreBQkAAABwRcJImMHgQCsPnXghjzx9auYLvQsSAAAA4IqEkTCD3f3TrdqzOR3pXZAAAAAAMxJGwgxaWzbm1S/rzf7ZvDcy8S5IAAAAgBkII+EKBgdaOX7yVL741BVatQEAAACYkTASruDundtTSmZ/OhIAAACASxJGwhVs37Ixr3l57+zeGwkAAADAZc06jCyl9JZS3lNKeX8p5WAp5Ugp5UQp5fD055+c/r53KQuG5TDY387DT53KwyeXqFV7bCw5dKhZAQAAAFapK4aRpZTXllL+bZJHk/xqkm9LcleSO5JsS7Jz+vO3T3//aCnlZ0opr12yquEqu3vn9qwryf4jSxAWjo4mO3Yke/c26+jo4v8bAAAAACvAZcPIUsqNpZSRJJ9O8s1Jnk/yK0m+O8lfTHJnkldMr38pyfekCSNfSPItST5dSvl3pZQbl/QvgKvg+mu685qbr8uBwydSa128B4+NJcPDycREMj7erMPDTkgCAAAAq9KGGb47nOSaJB9M8u+T/E6t9ewM1/9ukp8opaxP8peTfFOSv5vkryc7Y0LEAAAgAElEQVTZujjlwvLZ09/KT3/0aI6fPJW+1jWL89Bjx5Lu7iaEPKerq9lvtxfn3wAAAABYIWZq0/69JF9ea/3rtdbfvkIQ+adqrWdqrf+11vqeJG9I8tFFqBOW3V1/2qq9iINs+vqSyckL96ammn0AAACAVeayYWSt9V211s8t5OG11s/WWr9mIc9YtQws6ThbN3fndbdclwOHxxavVbvdTkZGkp6epLe3WUdGnIoEAAAAVqVZT9NmERlY0rEG+1t57JkX89CJFxbvoUNDyfHjyb59zTo0tHjPBgAAAFhBhJFXm4ElHe2uO1pZV5KDi9mqnTQnIXftciISAAAAWNVmGmBzSaWUTWkmaL88yabLXVdr/Q8LqGv1MrCko123uSuvv2Vr9h8+kf/tbTtSSlnukgAAAAA6xpzCyFLK9yR5X5LeWVwujLwUA0s63uBAK+//yJE8eOKF7GxvWe5yAAAAADrGrMPIUso3JfnX0x+/kOSPkjy7FEWtaucGlgwPNycip6YMLOkwd+3cnp/+vSM5cPiEMBIAAABgDuZyMvK7ktQkf6fW+stLVM/aMDSUvPOdTWt2X58gssP0burKG25tWrW/4S6t2gAAAACzNZcBNq9Ico8gcpEYWNLRBgfaeeLZF3N07PnlLgUAAACgY8wljDyV5OGlKgQ6ydvu2JZ160r2H17kqdoAAAAAq9hcwsh7krx2qQqBTnLtpq688datOXjkRGqty10OAAAAQEeYSxj5T5O8qpTyjUtVDHSSwf5Wnnj2pRx5Uqs2AAAAwGxcdoBNKeUrLrH9b5L8+1LKX0nyW2nats9e6v5a6x8sSoWwQr31jm1Z/3tNq/bAjdcudzkAAAAAK95M07Q/mmZ69sVKkr8+/XM59QrPho537aauvPG2rTlw5ET+7u4+U7UBAAAArmCmwPAPcukwEpi2Z6CV+44dzh8/8VxedVPvcpcDAAAAsKJdNoystb7jKtYBHemtt2/PhvVHcuDwCWEkAAAAwBVcdoBNKeXWq1kIdKJrNm7Im267PgeOnMjZsw4SAwAAAMxkpmnax0spnyil/MNSyquuWkXQYQYHWjn5/GT++InnlrsUAAAAgBVtpjDyw0lem+RHkjxQSvl8KeWHSylvvjqlQWd46+3b0rW+5MDhE8tdCgAAAMCKdtkwstb6riStJH8zya8keXmSf5TkE6WU46WUHy+lfEUxQpg1bnP3hrx5h1ZtAAAAgCuZ6WRkaq2naq2/WmsdStJO8r8m+fkkm5L8gyS/l+RLpZSfLaX85VJK15JXDCvQ4EA7T70wmS986dnlLgUAAABgxZoxjDxfrXWq1vpbtda/l+RlSb4yyU8leTHJ30vyX5OMlVJ+qZTytaWUa5akYliB3tKnVRsAAADgSmYdRp6v1nq21vr7tdbvqrXuSPKWJP8qyeNJhtK0dY+VUr5p8UqFlaune3129W3LwaMntWoDAAAAXMa8wsiL1Vrvq7X+YK31y9IMvfmhJH+U5ObFeD50gt39rTz9wmQ+/7hWbQAAAIBL2bDYD6y1fj7J55P8sHdIspbs6tuW7g3rcuDIibz25uuWuxwAAACAFWdRTkZeTq11aimfDytJT/f63Nl3fQ6aqg0AAABwSXMKI0sp/aWUnyulHCmlnCqlnLnMz+mlKhhWsj397TxzaioPPKZVGwAAAOBis27TLqXcmeQjSa5JUq50+UKKgk51Z9/12bhhXfYfGcvrbtGqDQAAAHC+uZyM/FdJtqSZlP2mJNfWWtdd7mdJqoUVblPX+uy6fVvuPXoyZ7RqAwAAAFxgLqHhW5N8odY6VGv9dK31haUqCjrZnv5Wnjk1lc89Or7cpQAAAACsKHMJIyeSfGapCoHV4k07rs+mrmaq9oKMjSWHDjUrAAAAwCowlzDyE0nuWKpCYLXY1LU+u/q25Z6jJ+bfqj06muzYkezd26yjo4tbJAAAAMAymEsY+S+SvLGU8p6lKgZWi8GBVp6dOJ3PzqdVe2wsGR5OJiaS8fFmHR52QhIAAADoeLOepl1rPVhK+fokP1dKeXeS/57kkSRnL3P9HyxOidB53rzj+vR0rc/+PxnLG27dOrebjx1LurubEPKcrq5mv91ezDIBAAAArqpZh5HTupOcSvK3pn8up87j2bBqbNywPm+5fVvuOXoy733HzmxYP4dDyH19yeTkhXtTU83+2FgTSvb1CSYBAACAjjPrhKSU8rVJfinJLUmeSnJ/kj+4zM/+Ra8UOsyegVaef+l0PvPIHFu12+1kZCTp6Ul6e5t1ZCTZt897JAEAAICONpfTi/9nkpLk25L8bK31ku3ZQOONt12fnu71OXD4RN684/q53Tw0lLzznX92CjJpAsiJiT9r3x4ebq5xQhIAAADoEHMZYPOqJAdrrT8jiIQr696wLm+7fVs+9uDJTJ2Zx38y7Xaya1eznnuP5PnOvUcSAAAAoEPMJYwcTzOwBpilwYF2nn/pdP7wkWcW9qCZ3iMJAAAA0CHmEkb+jyS7SillqYqB1eYNt27N5u712X/4xMIedLn3SGrRBgAAADrIXMLIf5Tk2iQ/VkoxKRtmoXvDurztju259+g8W7XPNzSUHD/eDLI5frz5DAAAANBB5hIqDif57STfneTdpZSPpGnbvlTCUmutP7wI9UHH2zPQykf+6Ml8+ovPZFfftoU9rN12GhIAAADoWHMJI38oSU0zUbsvyTdd4ppz39ckwkhI8uW3bs01G5tW7QWHkQAAAAAdbC5h5D9LEzICc9C1fl3uuqOVg0dPZPL02XRvmMvbEQAAAABWj1mHkbXWH1rCOmBVGxzYnn1feCKfevjpvPWO7ctdDgAAAMCymPURrblM0S6leKkdnOfLb9maLRs35OCRBU7VBgAAAOhgc+kXff9sLiqlbEvyu/MrB1anDevX5a6d2/OxB5/K5OkFTtUGAAAA6FBzCSPfW0r5/pkuKKX0JvkfSV63oKpgFRocaGVi6kzuf/jpxX3w2Fhy6FCzAgAAAKxgcwkjP5fkR0opX3+pL0sp1yT5b0nelOSXF6E2WFVef/N1uXbThhw4vIit2qOjyY4dyd69zTo6unjPBgAAAFhkcwkj/0qSx5P8fCnlK87/opSyKcmHktyV5NeTfOOiVQirxIb163L3zu35xENP5aXTZxb+wLGxZHg4mZhIxsebdXjYCUkAAABgxZp1GFlrfSRNIDmZ5IOllC9LklJKd5oA8iuT/HaSr6+1eikeXMLgQDsTU2fyyeOL0Kp97FjS3X3hXldXsw8AAACwAs3lZGRqrZ9N8p4kW5L8dinl1iS/kuSrknwkyXtqracXvUpYJV5383Xp7VmkVu2+vmRy8sK9qalmHwAAAGAFmlMYmSS11v+Z5JuT7EjyhSR/Lck9Sd5Va52c6V5Y69avK7l7ZyuHjj2VF6cW2KrdbicjI0lPT9Lb26wjI80+AAAAwAo05zAySWqt/yHJP0myOcknk/zlWusLi1kYrFaD/a28OHV2cVq1h4aS48eTffuadWho4c8EAAAAWCIbLvdFKeUjs7h/Ksn6JL9ZSjl/v9Za/8ICa4NV6XU3X5etm7uy//CJ7O5vLfyB7bbTkAAAAEBHuGwYmeQds3zGGy6xV+deCqwN66Zbtfd94Ym8OHUmm7rWL3dJAAAAAFfFTGHkV161KmCN2TPQym9/9vEcOvZU9gw41QgAAACsDZcNI2utv381C4G15NUv683WzV05cPiEMBIAAABYM+Y1wAZYmHXrSnb3N1O1JyYXOFUbAAAAoEMII2GZDPa3MnWm5tCxp5a7FAAAAICr4rJhZCnlnlLKVyzk4aWUt5dSDi7kGbBavfplvbn+mu4cOHJiuUsBAAAAuCpmOhl5R5LfK6X8Xinlb5dSembzwFJKTynl75RSPprkI0luX4Q6YdVZt65ksH977tOqDQAAAKwRM03THkjyfyX5ziRfkeQDpZR7k9yb5AtJTiZ5Nklvku1JXp3krumfzUmmkvzrJD+8VMVDpxvsb+fDn3k8H3/oZN7xyhsW56FjY8mxY0lfX9I2HAcAAABYOWaapv1cku8tpfxkku9I8neT7E3yzsvcUqbXE0l+MskHaq1fXMRaYdV51U3XZvuW7hw4fGJxwsjR0WR4OOnuTiYnk5GRZGho4c8FAAAAWAQznYxMktRajyf5vlLKP06yJ8k7krwhyQ1JrkvyTJInk9yf5PeSHKy1Ti1VwbCaNK3arfzWZx/PqcnT2dx9xf8kL29srAkiJyaan6T5/M53OiEJAAAArAizTj5qrS8l2Tf9AyyS3f2t/OanH8vHH3wqX/mqBZyOPHasORF5LohMkq6uZl8YCQAAAKwAMw2wAa6CV954bVpbFmGqdl9f05p9vqmpZh8AAABgBRBGwjJbt65kd38r9z/8dJ5/6fT8H9RuN++I7OlJenubdWTEqUgAAABgxRBGwgqwZ6Cd02dqPvHQyYU9aGgoOX482bevWQ2vAQAAAFYQYSSsAK+4cUva127M/sMLbNVOmpOQu3Y5EQkAAACsOMJIWAFKaaZqf+rhZ/Lci4bRAwAAAKuTMBJWiD0DrZw5W/OxB59a7lIAAAAAloQwElaI/hu25MbejTm40KnaAAAAACuUMBJWiFKaqdqf+uIzeVarNgAAALAKzTqMLKV8aynlmqUsBta6PQPtnD1b87GjC5yqDQAAALACzeVk5E8neaSU8hOllFctVUGwlu1sX5ObrtuUA1q1AQAAgFVoLmHkbyS5Jsl3JnmglLKvlPLuUopWb1gkpZTsGWjlM198JuMTWrUBAACA1WXWQWKt9T1J+pL88yRPJPlfkvxakuOllH9cSrlxSSqENWawv5WzNblXqzYAAACwyszpVGOt9bFa6/uS3JZkKMmBJDcn+adJHi6ljJZS9ix+mbB23N66Ji/fuikHjowtdykAAAAAi2peLda11tO11v9ca317ktcl+bdJXkzyN5J8tJTymVLKt5RSehaxVlgTSikZ7G/ls4+MZ/yUVm0AAABg9Vjw+x5rrQ8k+dEk/zFJmf55XZIPpGnh/vsL/TdgrRkcaDet2g8aZAMAAACsHgsKI0spX1VK+VCSo0nem+RUkp9N8nVJPpRkW5KfLqV8z0ILhbWkb/vm3Ly1J/sPCyMBAACA1WPOYWQpZVsp5XtLKUeS/FaSr07ycJLvT3JLrfVba63/pdb67iRvTfJ8km9fzKJhtSulZHCglc89Op5nTk0udzkAAAAAi2LWYWQp5S2llF9I8kiSf5nkjiT/M8m7kvTXWv91rfWZ8++ptX4yyW8n2bFoFcMasWegmap9j6naAAAAwCoxl5ORH0vyDUlOJ/mZJK+ptf7FWuuHa611hvteSLJ+ATXCmnTbts25dZtWbQAAAGD1mEsYeTTJ96Rpxf72WusXZnNTrfXv1VoXPCgH1ppmqnY7Dzw2nqdf0KoNAAAAdL5Zh4S11oFa60/UWp9dyoKAPzPY30qtycGjTkcCAAAAnW8u74z8SCnl+2Zx3feWUj6ysLKAJLlt++bctm1zDh5ZYBg5NpYcOtSsAAAAAMtkLu3T70jyZbO47pVJ3j6vaoA/Z3CglQceezYnn39pfg8YHU127Ej27m3W0dHFLRAAAABglpbiXY4bk5xZgufCmnSuVXteU7XHxpLh4WRiIhkfb9bhYSckAQAAgGWxqGFkKWVdkjcn8YI7WCS3btucHds3Z//heQSIx44l3d0X7nV1NfsAAAAAV9mGmb68xLsfv2qG90FuSNKf5MYkv7IItQHT9gy08p8+9nBOPP9SWls2zv7Gvr5k8qJJ3FNTzT4AAADAVTZjGJnmPZHn1CQ3Tf/M5FNJfmABNQEXGRxo5z997OEcPHIi73rDzbO/sd1ORkaa1uyuriaIHBlp9gEAAACusiuFkV85vZYkH0nyO0n+5WWunUzyaK314UWqDZh289ae3N66JgcOzzGMTJKhoeSd72xas/v6BJEAAADAspkxjKy1/v6530spv5/ko+fvrUSllB9J8oPTH7+v1vpjl7nubyV5b5LXJ1mf5I+S/HySD9Raz16NWmEuBgda+Y/3Hs+Tz72YG67dNLeb220hJAAAALDsZj3Aptb6lbXWf7WUxSxUKWVXku9P01I+03U/leSXktyZZH+S303yiiTvT/JrpZT1S1wqzNlgfytJcs+ReUzVBgAAAFgBFnWa9nIqpWxM8gtJnkjymzNc97VJvi3Jl5K8vtb61bXWdycZSPKFJO9O8h1LXjDM0cu39mRn+5rsP2xYPQAAANCZLtumXUp53/Sv76+1PnXe59motdYfXlhpc/bPkrw6yV9L8rUzXHeuhfsHaq2Hz23WWp8opbw3yUeT/MNSyk9q12alGRxo5xfvOZYnnn0xN/bOsVUbAAAAYJnN9M7IH0rT7vz/JXnqvM9lhnvOfV+TXLUwspTy1iT/R5JfrrV+ePr046WuuyXJm9MM2/nVi7+vtf5+KeXRJDcneVuSe5auapi7wf5WfvGeYzl45ETe86ZblrscAAAAgDmZKYz8Z2lCxRMXfV5RSimbkvximsD0H1zh8jdOrw/UWicuc82hNGHkGyOMZIW56bpNGbhhSw4cFkYCAAAAneeyYWSt9Ydm+ryC/Iskr0zy9bXWK71M7/bp9fgM1zx80bWwouzub+UXtGoDAAAAHaijB9iUUu5O8t1JfqPW+p9nccuW6fWFGa55fnq9doZ/91tKKfeVUu4bGxubXbGwSAYHmqnaBwyyAQAAADpMx4aRpZSeJD+f5Nk007Fnddv0uqB281rrz9Za76y13tlutxfyKJizG3s3ZeDGLTlwRBgJAAAAdJZZh5GllG8vpZwppXz1DNd89fQ1f39xypvRjyR5RZL/vdb6+CzveW563TLDNee+e26Ga2BZ7Rlo5ciTz+fx8cu9+hQAAABg5ZnLych3J3kyyW/NcM1vJxlL8p6FFDWHes4m+cZSykfP/0nyVdPXvHd6799Nfz42ve6Y4bm3XnQtrDi7d2rVBgAAADrPTNO0L/aqJJ+rtV62xbnWeraU8tkkX7bgymZnXZK3z/D9HdM/W6c/f2p6fU0ppecyE7V3XXQtrDg39G7KK2+6NgeOnMjX3XnrlW8AAAAAWAHmcjKyneSJWVz3ZJIb5lfO7NVa+2qt5VI/SX5x+rLvm957w/Q9X/z/2bv36Djv8z7w3xcEQIKkeAVkWTdCEuD40tiRJVqWBNZpI7Zpm9OT5rZB0q5do403TtLUSa/W7p7d7cZ12vTkeJvUdc7CTdK0aG6t9yRt05RtkpKU7VDyJXbs2KQkUpYlWaAukChBAkS++8cLSiA4AGcGM5gB8Pmcw/OaL168+GEwMxa/eJ7fk+QzSfqTfO/SexZF8a4k1yd5Iskn2/09wGocGh3MQ9Mv5OvPatUGAAAA1odGwshnk9xYx3XX57WJ1N3oHy8cf7ooipGLJ4uiuDrJv1j464fLsryw5iuDBty10Kp9vNlW7enp5MSJ6ggAAACwBhoJIz+T5J1FUYwud8HCx+5MF7c4l2X5G0k+muSaJF8oiuK3iqL490lOJnlzkk8k+bkOLhHqMnTV1rxxoVW7YVNTyYEDyeHD1XFqqvULBAAAAFiikTDyX6XaY/L/K4rijUs/WBTFN6UK8rYsXNu1yrJ8f5IfTBWwvivJn09yKsmPJvnusizPd3B5ULex0cE8fPaFPPrMi/V/0vR0MjGRzM4mMzPVcWKiOq9aEgAAAGijusPIsix/LclvpRpk84WiKP5HURS/sPDnD5J8MdXgmv9UluW/bc9y617rexb2ivyZFa75t2VZ3l2W5a6yLHeUZXlbWZY/rz2b9eTukSamap8+nfT3X3qury/52MdUSwIAAABt1UhlZJJ8T5J/nuRCkrEkf2Phz6GFc/88yXe3coHA8gZ3bs2bX78rRxtp1R4eTubmLj03N5d86EO1qyUBAAAAWqShMLIsy/myLH881ZCa8ST/YOHPeJLry7L88bIs51a6B9Bah94wmEeeejGPPFVnq/bQUDI5mQwMJLt2Vcd7761dLXn6dMvXCwAAAGxeRVmWnV7Dunb77beX999/f6eXwSb29Atzec+/+sN8/8Eb8wN31DPwfsH0dBU2Dg9Xfz9woKqIvGhgIDlzpgovAQAAAOpUFMUDZVneXutjjbZpA11m347+vOXaXTne6FTtoaHk4MHqWKtacnJSEAkAAAC0VMNhZFEUby6K4mNFUXylKIpzC3++UhTFvyyK4i3tWCSwsrGRoTzydAOt2rWMj1eVkEeOVMfx8dYtEAAAACANhpFFUUwk+UyqoTWjSbYv/BlN8kNJHli4BlhDd92yPz1FcvTUKgfOLK6WBAAAAGixusPIoijuSPKxJL1Jfj3Jt6cKId+Q5M8n+dWFj/3LhWuBNbJ3R3/ect3uHDt5NvaBBQAAALpVI5WRfydJkeQHyrL8/rIsf7csywfLsjxVluV/LctyPNVU7S1JfrIdiwWWd2hkMI8+M5szq2nVBgAAAGijRsLIsSQnyrL8teUuKMvy15P8YZJDq10Y0Jg7X23VbnCQDQAAAMAaaSSM3JfkVB3XnVq4FlhDe7b355uv351jJ6e1agMAAABdqZEw8ukkI3Vcd8vCtcAaGxsZzGPPvpSHz77Q6aUAAAAAXKaRMPK+JAeLoviu5S4oiuI7k9yR5PhqFwY07s6bB9NTJMe1agMAAABdqJEw8p8lKZP8alEUv1wUxbcVRXFzURQ3LfzvX0rya0kuLFwLrLHd2/vy1uv35Kip2gAAAEAXqjuMLMvyviQ/liqQ/MEkv5vkZKo9In83yV9buPTHyrL8ZIvXCdRpbHQwj8+8lIe0agMAAABdppHKyJRl+dEktyf5xSQPJXl54c9DST6e5PaFa4AOuThV+9hJrdoAAABAd+lt9BPKsvyjJBNtWAvQAru29eVbbqhatf/nOw+kKIpOLwkAAAAgSYOVkcD6MDY6lG8891IenD7X6aUAAAAAvEoYCRvQO2/el56eIke1agMAAABdZNk27aIoPr6K+5ZlWWrlhg65altfbr1hT46fOpv33DXcfKv29HRy+nQyPJwMDbVyiQAAAMAmtNKeke9ZxX3L2FcSOmpsZDAf+W8nc/LJc3nD665q/AZTU8nERNLfn8zNJZOTyfh46xcKAAAAbBorhZF/fc1WAbTcO2/Zn5/7vVM5evJs42Hk9HQVRM7OVn+S6u/33KNCEgAAAGjasmFkWZa/tJYLAVpr59bevP3GvTl2cjrvvbvBVu3Tp6uKyItBZJL09VXnhZEAAABAkwywgQ3s0Ohgzp6by1e+8Xxjnzg8XLVmLzY/X50HAAAAaFJTYWRRFLuLorinKIrxoijuavWigNZ4x0370rulyLFGp2oPDVV7RA4MJLt2VcfJSVWRAAAAwKo0FEYuhJAfT/Jkkv+S5FeS/I1FH39/URSPFUXxztYuE2jGjout2qfO5sKFsrFPHh9PzpxJjhypjobXAAAAAKtUdxhZFMWOJL+fasr2M0n+c5Klm9D9TpJrknxna5YHrNbY6GCeaqZVO6kqIQ8eVBEJAAAAtEQjlZF/J8nbUlVD3lyW5XcsvaAsy4eSfDXJn23N8oDVuuOmfelrplUbAAAAoMUaCSO/N8ljSf5mWZYvrnDdI0muW9WqgJbZ3t+b2w402aoNAAAA0EKNhJE3JzlRluXLV7jubJL9zS8JaLWx0aE8/cJcvvzEc51eCgAAALCJNRJGzifZVsd11yc519xygHZ4x7BWbQAAAKDzGgkjv5Lk1qIolg0ki6LYm2pfyS+sdmFA6wz0b8nB4X05/uBTWrUBAACAjmkkjPyNJFcn+fAK13woyc4kv7aaRQGtd/fIYJ55YS5felyrNgAAANAZjYSRP5fky0l+rCiKY0VR/MTC+eGiKH64KIr/nuSHUlVFTrZ4ncAqHRzel/7enhw7pVUbAAAA6Iy6w8iFCdp/Lsmnk9yV5J8ufOhdqYLKb03ymSR/qSzLudYuE1itgf4tuX14b46bqg0AAAB0SG8jF5dl+fUkdxVF8e1J/mKqCdtbknwtyX9O8omyLKUc0KUOjQzlvlNP5Y8fey7ffP3uTi8HAAAA2GQaCiMvKsvyd5L8TovXArTZ7cN7s7W3J0dPTQsjAQAAgDVXd5t2URRvaudCgPbb1rclB2/al08++FTOa9UGAAAA1lgjA2y+WBTFp4qi+F+KotjTthUBbXVoZDDPvjifL3x9ptNLAQAAADaZRsLI6STvSPLzSR4viuLfFUXx7UVRFO1ZGtAObz+wN9v6enLcVG0AAABgjTUSRl6b5DuS/ObC378vyX9M8mhRFB/Wxg3rw7a+LTk4vC/HT53Vqg0AAACsqbrDyLIsL5Rl+Z/Ksvy+JK9P8iNJTiz877+Xqo3709q4ofsdGh3K8y+9kj969NlOLwUAAADYRBqpjHxVWZbPlmX50bIs35nkjUl+OsljSQ6mauN+rHVLBFrttgN7M9C3JcdOatUGAAAA1k5TYeRiZVl+tSzLf5jk5iT/T5IiydbV3hdon/7entxx877c9+BTeeX8hU4vBwAAANgkVh1GFkXxlqIo/mmSM0l+bOH07GrvC7TX2Mhgzr38Sj7/aINTtaenkxMnqiMAAABAA5oKI4ui2FcUxY8WRXEiyR8l+ckk1yT5ZJIfSrWPJNDFbr1xbwb6G2zVnppKDhxIDh+ujlNT7VsgAAAAsOH01nthURRbkvzFJO9ONVW7L1VL9qNJ/nWSXyzL8mQ7Fgm0Xn9vT95507586qGn8v7zt6RvyxV+NzE9nUxMJLOz1Z+k+vs991T/+/TpZHg4GRpq57IBAACAdayRysivJ/lEku9KciHJryb59iQHyrK8VxAJ68/Y6FDOvVznVO3Tp5P+/kvP9fUlH/uYakkAAACgLo2EkVcn+cMkP5zk9WVZ/kBZlr9blmXZnqUB7TUmKtYAACAASURBVPYtN+zJ9v4tOVpPq/bwcDI3d+m5ubnkQx+qKiVnZqrjxIT9JAEAAICaGgkj31SW5Z1lWX6sLMsGJ14A3ai/tyfvvHl/PvngU5m/0lTtoaFkcjIZGEh27aqO995bu1ry9Om2rRkAAABYv+oOI8uy/Eo7FwJ0xqHRwbw4dz6f+1odrdrj48mZM8mRI9Xxfe+7vFpyfr6qogQAAABYoqlp2sDG8bYb9mTH1jpbtZOqQvLgwepYq1pyctIQGwAAAKCmuqdpAxtT35ae3HnzYI4/eDZzr1xIf2+Dv6MYH68mapumDQAAAFyBykggY6P7Mzt3Pp995JnmbrC4WhIAAABgGcJIIG+7fk92bu3N8VN1tmoDAAAANEEYCaR3S0/uvGV/PvXQ05l75QpTtQEAAACaJIwEkiRjo4OZnT+fzzTbqg0AAABwBcJIIEny1ut256ptvTlW71RtAAAAgAYJI4EkVav2Xbfszx8+/HRefuV8p5cDAAAAbEDCSOBVY6NDmZ0/nwdOt6BVe3o6OXGiOgIAAABEGAks8s3X7c7ugb4cW+1U7amp5MCB5PDh6jg11ZoFAgAAAOuaMBJ41ZaeIncutGq/NN9kq/b0dDIxkczOJjMz1XFiQoUkAAAAIIwELnVodDAvv3IhD5xpslX79Omkv//Sc3191XkAAABgUxNGApf4U9fuzp7tfTna7FTt4eFkbu7Sc/Pz1XkAAABgUxNGApfo6Sly1y2DOXG6yVbtoaFkcjIZGEh27aqOk5PVeQAAAGBTE0YClzk0Opi5Vy7kxOmnm7vB+Hhy5kxy5Eh1HB9v7QIBAACAdUkYCVzmza/flT3b+3Ks2VbtpKqEPHhQRSQAAADwKmEkcJmeniJ3j1St2rNzTU7VBgAAAFhCGAnUNDYymPnzZfOt2gAAAABLCCOBmt78+l3Zu6M/x06tolUbAAAAYBFhJFBTT0+RsZH9uV+rNgAAANAiwkhgWWMjQ5k/X+bTDz/V6aUAAAAAG4AwEljWG6+5Kvt39q9uqjYAAADAAmEksKyqVXswDzzyTF6ce6XTywEAAADWOWEksKK7Rwbzyvkyn37IVG0AAABgdYSRwIq+6XVXZXCnqdoAAADA6gkjgRX19BS5e2Qwn3nkmZx7Was2AAAA0DxhJHBFh0aHFlq1TdUGAAAAmieMBK7oDa/bmauv2pqjq5mqPT2dnDhRHQEAAIBNSRgJXFFRFBkbHcxnv/Zsnn9pvvEbTE0lBw4khw9Xx6mp1i8SAAAA6HrCSKAuYyODuXChzKcanao9PZ1MTCSzs8nMTHWcmFAhCQAAAJuQMBKoy8jVO/O6XVtzvNGp2qdPJ/39l57r66vOAwAAAJuKMBKoS1EUGRupWrWfa6RVe3g4mZu79Nz8fHUeAAAA2FSEkUDdxkaHqlbtBxuYqj00lExOJgMDya5d1XFysjoPAAAAbCrCSKButwztyDW7t+VYo63a4+PJmTPJkSPVcXy8PQsEAAAAulpvpxcArB9FUeTQ6GB+84FHMzM7n90DffV/8tCQakgAAADY5FRGAg0ZGxnMhTL5ZCOt2gAAAAARRgINumlwR67dsy3HTk13eikAAADAOiOMBBpycar2Fx6dycyLDUzVBgAAADY9YSTQsLHRoapV+6EGB9kAAAAAm5owEmjY8P7tuW7PQI6eFEYCAAAA9RNGAg0riiJjo4P54tdn8uyLc51eDgAAALBOCCOBphwaraZq39fqqdrT08mJE9URAAAA2FCEkUBTbty3PTfsa3Gr9tRUcuBAcvhwdZyaat29AQAAgI4TRgJNqaZqD+WPH5vJMy+0oFV7ejqZmEhmZ5OZmeo4MaFCEgAAADYQYSTQtLGRwZRlcvzBFlRHnj6d9Pdfeq6vrzoPAAAAbAjCSKBpN+7fnhv3bc+xVrRqDw8nc0sqLOfnq/MAAADAhiCMBFZlbHQwX3r8uZw99/LqbjQ0lExOJgMDya5d1XFysjoPAAAAbAjCSGBVLrZqt2Sq9vh4cuZMcuRIdRwfX/09AQAAgK4hjARW5YZ92zM8uCPHTjYxaGZ6Ojlx4tIhNUNDycGDKiIBAABgAxJGAqt2aGQwX378+cZataemkgMHksOHq+PUVPsWCAAAAHQFYSSwanePDiZJjp+qc5DN9HQyMZHMziYzM9VxYuLSCkkAAABgwxFGAqt23Z6B3DS4o/6p2qdPJ/39l57r66vOAwAAABuWMBJoibHRwfzJE8/nyedfuvLFw8PJ3Nyl5+bnq/MAAADAhiWMBFpibKRq1b7vVB1TtYeGksnJZGAg2bWrOk5OGloDAAAAG5wwEmiJa/cM5JahHTlab6v2+Hhy5kxy5Eh1HB9v7wIBAACAjhNGAi0zNjqUr37j+XzjuTpatZOqEvLgQRWRAAAAsEkII4GWudiqXfdUbQAAAGBTEUYCLXPN7m0ZvXpn/VO1AQAAgE1FGAm01N0jgzn55Ln6W7UBAACATUMYCbTU2GjVqq06EgAAAFhKGAm01Ot2bcvo63bmmH0jAQAAgCWEkUDLHRodzKknz+XxmdlOLwUAAADoIsJIoOXuvkWrNgAAAHA5YSTQclfv2pZvuuYqrdoAAADAJYSRQFscGh3MQ9Mv5OvPatUGAAAAKsJIoC3uWmjVPq5VGwAAAFggjATaYuiqrXnjNVflqFZtAAAAYIEwEmibQ28YyumzL+RrT7/Y6aUAAAAAXUAYCbTNXbfsT1Ekx1VHAgAAABFGAm00uHNr3vz6XVq1AQAAgCTCSKDNxkYH88hTL+aRp7RqAwAAwGYnjATa6q5bBlMUyTHVkQAAALDpCSOBttq3oz9vuXaXfSMBAAAAYSTQfmMjQ3nk6SZbtaenkxMnqiMAAACwrgkjgba765b96SmSo6caDBSnppIDB5LDh6vj1FR7FggAAACsCWEk0HZ7d/TnLdftzrGTZ1OWZX2fND2dTEwks7PJzEx1nJhQIQkAAADrmDASWBOHRgbz6DOzOVNvq/bp00l//6Xn+vqq8wAAAMC6JIwE1sSdr7Zq1znIZng4mZu79Nz8fHUeAAAAWJeEkWvBAA7Inu39+ebrd+fYyen6WrWHhpLJyWRgINm1qzpOTlbnAQAAgHVJGNluBnDAq8ZGBvPYsy/l4bMv1PcJ4+PJmTPJkSPVcXy8vQsEAAAA2koY2U4GcMAl7rx5MD1FcrzeVu2kqoQ8eFBFJAAAAGwAwsh2MoADLrF7e1/eev2eHG1kqjYAAACwYQgj28kADrjM2OhgHp95KQ/V26oNAAAAbBjCyHYygAMuc3Gq9rGTDbRqL2UoFAAAAKxLwsh2M4ADLrFrW1++5YY9OVrvVO2lDIUCAACAdUsYuRYM4IBLjI0O5RvPvZxTT55r7BMNhQIAAIB1TRgJrLl33rwvW3qKHGtkqnZiKBQAAACsc8JIYM1dtdCqfazRqdqGQgEAAMC6JowEOuLQ6GCefP7lnGykVdtQKAAAAFjX1nUYWRRFX1EU31YUxT8riuJTRVE8XhTFXFEUXy+K4jeKovjWK3z+DxRFcbQoipmiKM4VRXF/URQ/UhTFun5cYD244+b92dJT5GijU7UNhQIAAIB1a72Hbu9KciTJTyQ5kOSBJP8hydNJvjvJ7xVF8X/V+sSiKH4+yb9JcnuSo0n+a5I3JPm5JL9RFMWWtq8eNrGdW3vz9hv35lgzU7VrDYWank5OnDDMBgAAALrYeg8jLyT5zSR/uizL15dl+R1lWf5PZVl+c5LvT3I+yf9WFMWfWfxJRVF8d5L3J3kiyVsXPu+vJBlN8uUkfyXJj67lNwKb0aHRwZw9N5evfOP51d1oaio5cCA5fLg6Tk21ZoEAAABAS63rMLIsy/9eluX3lGV5tMbHfjXJLy789a8u+fA/XDj+/bIsTy76nG8k+eGFv/4D7drQXu+4aV96txQ51mir9mLT08nERDI7m8zMVMeJieq8akkAAADoKhs9bPvswvH6iyeKorg+yW1J5pL8+tJPKMvyD5J8Pck1Sd65BmuETWvHxVbtU2dz4UKDrdoXnT6d9Pdfeq6vL/nYx1RLAgAAQJfZ6GHk6MLx8UXnbl04/nFZlrPLfN6JJdcCbTI2OpinVtOqPTyczM1dem5uLvnQh2pXSwIAAAAds2HDyKIorknynoW//uaiD920cDyzwqc/suRaoE3uuGlf+lbTqj00lExOJgMDya5d1fHee2tXS54+ver1AgAAAM3bkGFkURS9SX4lye4k/60sy99a9OGdC8cXVrjFuYXjVcvc/4eKori/KIr7p1Vawaps7+/NbQdW2ao9Pp6cOZMcOVId3/e+y6sl5+erKkoAAACgYzZkGJnkXyb5tiRfy+XDa4qFY5OpR1KW5S+UZXl7WZa3Dw0NNXsbYMHY6FCefmEuX37iueZvMjSUHDxYHWtVS05OVucBAACAjunt9AJarSiKjySZSPJEkm8ry/KJJZdc3JhuZ5Z38WNNbmIHNOIdw6+1ar/l2t2tuen4eHLPPVVr9vCwIBIAAAC6wIaqjCyK4p8l+VtJplMFkSdrXHZ64XhghVvdsORaoI0G+rfk4PC+HH/wqeZbtWtZXC0JAAAAdNyGCSOLovgnSX4iyVNJDpdl+aVlLv3swvEtRVEMLHPNwSXXAm1298hgnnlhLl96fBWt2gAAAEBX2xBhZFEUH07yd5M8kyqI/Pxy15Zl+bUkn0nSn+R7a9zrXUmuT9Xm/cm2LBi4zMHhfenv7cmxU01O1QYAAAC63roPI4ui+EdJ/n6SZ1MFkfVUM/7jheNPF0UxsuheVyf5Fwt//XBZlhdaulhgWQP9W3L78N4cX81UbQAAAKCrresBNkVR/OUk/+vCX08l+bGiKGpd+idlWX744l/KsvyNoig+muSHk3yhKIojSeZTTeDeleQTSX6unWsHLndoZCj3nXoqX3xsJm+9fk+nlwMAAAC02LoOI5PsW/S/b1/4U8sfJPnw4hNlWb6/KIpjSX4kybuSbEnyJ0k+nuSjqiJh7d0+vDdbe3ty9ORZYSQAAABsQOu6Tbssy18sy7Ko48+3LvP5/7Ysy7vLstxVluWOsixvK8vy5wWR0Bnb+rbkHTftyycffCrntWoDAADAhrOuw0hg4xkbGczM7Hy+8PWZTi8FAAAAaDFhJNBVbhvem219PTluqjYAAABsOMJIoKts7a1atY+fOqtVGwAAADYYYSTQdcZGhvL8S6/kjx59ttNLAQAAAFpIGAl0ndsO7M1A35YcO6lVGwAAADYSYSTQdfp7e3LHzfty34NP5ZXzhtsDAADARiGMBLrS2Mhgzr38Sj7/qKnaAAAAsFEII4GudOuNezPQr1UbAAAANhJhJNCV+nt78s6b9uVTDz2Vea3aAAAAsCEII4GuNTY6lHMvm6oNAAAAG4UwEuha33LDnmzv35KjWrUBAABgQxBGAl2rv7cn77x5fz75oFZtAAAA2AiEkUBXOzQ6mBfnzudzX2tBq/b0dHLiRHUEAAAA1pwwEuhqb7thT3ZsbUGr9tRUcuBAcvhwdZyaas0CAQAAgLoJI4Gu1relJ3fePJhPPfRU5l5pslV7ejqZmEhmZ5OZmeo4MaFCEgAAANaYMBLoemOj+zM7dz6ffeSZ5m5w+nTS33/pub6+6jwAAACwZoSRQNd72/V7snNrb46darJVe3g4mZu79Nz8fHUeAAAAWDPCSKDr9W7pyZ237M+nH3o6L79yvvEbDA0lk5PJwECya1d1nJyszgMAAABrRhgJrAtjo4OZnT+fz5xpcqr2+Hhy5kxy5Eh1HB9v7QIBAACAKxJGAuvC267fk6u29ebYqVUMnRkaSg4eVBEJAAAAHSKMBNaFLT1F7h4ZzB8+3GSrNgAAANBxwkhg3bh7ZDAvzV/IA6ebnKoNAAAAdJQwElg3vvm63dk90Nf8VG0AAACgo4SRwLqxpafInbfszx8+/HRemteqDQAAAOuNMBJYVw6NDublVy7kgTNatQEAAGC9EUYC68qfunZ39mzvy9GTWrUBAABgvRFGAutKT0+Ru24ZzInTWrUBAABgvRFGAuvOodHBzL1yISdOP93ppQAAAAANEEYC686bX78re7b35ZhWbQAAAFhXhJHAutPTU+TukapVe3ZOqzYAAACsF8JIYF0aGxnM/PlSqzYAAACsI8JIYF168+t3Ze+O/hw7pVUbAAAA1gthJLAu9fQUGRvZn/tX26o9PZ2cOFEdAQAAgLYSRgLr1tjIUObPl/n0w081d4OpqeTAgeTw4eo4NdXaBQIAAACXEEYC69Ybr7kq+3f2NzdVe3o6mZhIZmeTmZnqODGhQhIAAADaSBgJrFtVq/ZgHnjkmbw490pjn3z6dNLff+m5vr7qPAAAANAWwkhgXbt7ZDCvnC/z6YcanKo9PJzMzV16bn6+Og8AAAC0hTASWNe+6XVXZXBnf4422qo9NJRMTiYDA8muXdVxcrI6DwAAALRFb6cXALAaPT1FxkaH8luffyznXn4lO7c28LY2Pp7cc0/Vmj08LIgEAACANlMZCax7h0YHc/5CmU8/1MRU7aGh5OBBQSQAAACsAWEksO6NXr0zV1+1tfFWbQAAAGBNCSOBda8oioyNDuazX3s2z7803+nlAAAAAMsQRgIbwtjIYC5cKPOpRqdqAwAAAGtGGAlsCCNX78zrdm3N8VNatQEAAKBbCSOBDaEoioyNVK3az2nVBgAAgK4kjAQ2jLHRoapV+8EmpmoDAAAAbSeMBDaMW4Z25Jrd23JMqzYAAAB0JWEksGEURZFDo4P5/NeezcysVm0AAADoNsJIYEMZGxnMhTL5pFZtAAAA6DrCSGBDuWlwR67dsy3HTk03f5Pp6eTEieoIAAAAtIwwEthQLk7V/sKjM5l5sYlW7amp5MCB5PDh6jg11fpFAgAAwCYljAQ2nLHRoapV+6EGB9lMTycTE8nsbDIzUx0nJlRIAgAAQIsII4ENZ3j/9ly3ZyBHTzYYRp4+nfT3X3qur686r3UbAAAAVk0YCWw4RVFkbHQwX/z6TJ59ca7+TxweTuaWXD8/n3zmM1q3AQAAoAWEkcCGdGi0mqp9XyNTtYeGksnJZGAg2bWrOv7szyYf+IDWbQAAAGgBYSSwId24b3tu2DeQoycbDA3Hx5MzZ5IjR6rj29++fOs2AAAA0JDeTi8AoB2qqdpD+XcnHsnTL8xl347+K3/SRUND1Z+LarVuDw+3ZJ0AAACwmaiMBDassZHBlGVy34MNDrJZrFbr9uTkpWElAAAAUBdhJLBh3bh/e27cvz3HGp2qvdTS1u3x8dYsEAAAADYZYSSwoR0aGcyXHn8uZ8+9vLobDQ0lBw+qiAQAAIBVEEYCG9rdr7ZqNzBVGwAAAGgLYSSwod2wb3uGB3fkWKNTtQEAAICWE0YCG96hkcF8+fHnV9+qDQAAAKyKMBLY8O4eHUySHD+1ykE2AAAAwKoII4EN77o9A7lpcMfqp2oDAAAAqyKMBDaFsdHB/MkTz+fJ51/q9FIAAABg0xJGApvC2EjVqn3fKVO1AQAAoFOEkcCmcO2egdwytCNHtWoDAABAxwgjgU1jbHQoX/3G8/nGc1q1AQAAoBOEkcCmcbFV21RtAAAA6AxhJLBpXLN7W0av3tmaqdrT08mJE9URAAAAqIswEthU7h4ZzMknz62uVXtqKjlwIDl8uDpOTbVugQAAALCBCSOBTWVstGrVbro6cno6mZhIZmeTmZnqODGhQhIAAADqIIwENpXX7dqW0dftzLFm9408fTrp77/0XF9fdR4AAABYkTAS2HQOjQ7m1JPn8tizs41/8vBwMjd36bn5+eo8AAAAsCJhJLDp3H3LQqt2M9WRQ0PJ5GQyMJDs2lUdJyer8wAAAMCKhJHApnP1rm35pmuuan7fyPHx5MyZ5MiR6jg+3toFAgAAwAYljAQ2pUOjg3n47Av5ejOt2klVCXnwoIpIAAAAaIAwEtiU7h6pWrWPN1sdCQAAADRMGAlsSoM7t+ZNr78qR5udqg0AAAA0TBgJbFpjo0M5ffaFfO3pFzu9FAAAANgUhJHApnXXLftTFMlx1ZEAAACwJoSRwKY1uHNr3vz6XVq1AQAAYI0II4FNbWx0MI889WIeeUqrNgAAALSbMBLY1O66ZTBFkRxTHQkAAABtJ4wENrV9O/rzlmt32TcSAAAA1oAwEtj0xkaG8sjTWrUBAACg3YSRwKZ31y3701MkR09Nd3opAAAAsKEJI4FNb++O/rzlut05dvJsyrLs9HIAAABgwxJGAiQ5NDKYR5+ZzRmt2gAAANA2wkiAJHe+2qptkA0AAAC0izASIMme7f355ut359jJaa3aAAAA0CbCSIAFYyODeezZl/Lw2Rc6vRQAAADYkISRAAvuvHkwPUVyXKs2AAAAtIUwEmDB7u19eev1e/I/TNUGAACAthBGAiwyNjqYJ2ZeyoPTWrUBAACg1YSRAIvcecv+9PQUOXZyutNLAQAAgA1HGAmwyK5tfbn1hj05dkqrNgAAALSaMBJgibtHBvON517OqSfPdXopAAAAsKEIIwGWeOfN+7Klp8gxU7UBAACgpYSRAEtcta0v33LDnhxrdKr29HRy4kR1XOkcAAAAbFLCSIAaDo0O5snnX87Jelu1p6aSAweSw4er49RU7XMAAACwifV2egEA3eiOm/dnS8+pHD15Nm943VUrXzw9nUxMJLOz1Z8kee97k6K49NzERHLPPcnQUHsXDwAAAF1KZSRADTu39ubtN+7NsZPTV27VPn066e+/9NyWLUnPkrfYvr7qWgAAANikhJEAyzg0Opiz5+bylW88v/KFw8PJ3Nyl586fTy5cuPTc/Hx1rX0kAQAA2KSEkQDLeMdN+9K7pcixk1eYqj00lExOJgMDya5d1fHjH7/83ORkcuSIfSQBAADYtIqGJsVymdtvv728//77O70MoE3+0W9/KQ9On8vH330wPT3FyhdPT1dt2MPDr+0LufhcUgWQF/eQTKqQ8swZ+0gCAACwYRRF8UBZlrfX+pjKSIAVjI0O5ql6WrWTKlA8ePDSYHHxuVp7S9pHEgAAgE1EGAmwgjtu2pe+elq161Frb8mL+0gCAADAJiCMBFjB9v7e3HZgb46dOpsLF1a5rUWtvSUnJ7VoAwAAsGkIIwGuYGx0KE+/MJcvP/Hc6m82Pl7tEXnkSHUcH1/9PQEAAGCd6O30AgC63TuGX2vVfsu1u1d/w6Eh1ZAAAABsSiojAa5goH9LDg7vy/EHn1p9q3Yt09PJiRPVEQAAADYwYSRAHe4eGcwzL8zlS4+3oFV7samp5MCB5PDh6jg11dr7AwAAQBcRRgLU4eDwvvT39uRoK6ZqXzQ9nUxMJLOzycxMdZyYUCEJAADAhiWMBKjDxVbt+x5swVTti06fTvr7Lz3X11edBwAAgA1IGAlQp0Ojg3n2xfl88bGZ1txweDiZm7v03Px8dR4AAAA2IGEkQJ1uO7A3W1vZqj00lExOJgMDya5d1XFy0qRtgM3MUDMAYIMTRgLUaVvflrzjpn355INP5XyrWrXHx5MzZ5IjR6rj+Hhr7gvA+mOoGQCwCQgjARowNjKYmdn5fOHrLWrVTqpKyIMHVUQCbGaGmgEAm4QwEqABtw3vzba+nhw/1cKp2gBsTotbsg01AwA2CWEkQAO29lat2sdPnW1dqzYAm8Pi8HFpS/ZnPmOoGQCwKQgjARo0NjKU5196JX/06LOdXgoA68Xi8PHGG5P3vOfSluwPfCD52Z811AwA2PB6O70AgPXmtgN7M9C3JcdOns2tN+7t9HIA6HaL94Ocna19TV9f8va3V8PMTp+uKiIFkQDABqQyEqBB/b09uePmfbnvwafyyvkLnV4OAN2u1n6QS11syTbUDADY4ISRAE0YGxnMuZdfyecfbeFUbQA2puHhy/eD7OvTkg0AbErCSIAm3Hrj3gz0V63aALCioaEqbFwcPv7SL1Ut2UeOVMfx8U6vEgBgTdgzEqAJ/b09eedN+/Kph57K+8/fkr4tfrcDy5qevnwPvFrnYCMbH0/uuefy573nPwCwyfjXM0CTxkaHcu5lU7VhRYsnCB84UP291jnYDOwHCQCgMhKgWd9yw55s79+SoyfP5rYD+zq9HOg+tSYIv/e9SVFcem5ioqoYE9AAAMCGpzISoEn9vT15583788kHn8q8qdpwuVoThLdsSXqW/OdHX191LQAAsOEJIwFW4dDoYF6cO5/PfU2rNlym1gTh8+eTC0vC+/n56tp6TE8nJ05URwAAYN0RRgKswttu2JMdW7fk6FcFIy0haFreenxsak0Q/vjHLz83OVlfi7a9JgEAYN0ryrLs9BrWtdtvv728//77O70MoIM+cuRkjj94Nr8ycUf6e/2Op2lTU9Xegf39VTXd5GTtybObUa3HZny806uqrd7J2fVM0158TVIFkBf3mUyqIPPMmc393ICNqp73CACgaxVF8UBZlrfX+ph/NQOs0tjoYGbnzuezjzzT6aWsX4sHnczMVMd3v1sVXFL7sZmY6M4KyeUqF2tNEL7SVOGl9/rYxy7ff9JekyTrs2qYlamCBoANTRjZav6DGDadt12/Ozu39ubYqbOdXkr7tes9rtagk/n52gHcZnufrfXYdGMI18rQtNa9fuqnLt9/spG9JtmYhFYbz3r6BQwA0BRhZCv5D2LYlHq39OSuW/bn0w89nZdfOd/p5bRPO9/jag06Waqvr6qO22zvs7Uem24M4VoZmta6V39/8sEPNrfXJGun1i8L2vULhG4PrTbbL05aZb38AgYAaJowslW6/T+IgbYaGx3M7Pz5fObMBp2q3e73uKWDTrZtu/wfo3NzyYc+tPneZ2sNgVkuhOtk+NHK0HS5e73vfdUekUeOVMdu3TdzrXRb2FXrFxbt/CVGN4dWfkHdvLX6BUy3vX4AYBMRRrZKN/8HMdB2b71+T67aJ7sxLwAAIABJREFU1ptjpzboP2rW4j1ufPy1oOmRR5Jf/MVLA7h7711+DRv9H5WLH5vlQrhOhx+NhKarudeV9prcLDr9816q1i8s3vve9v4So1urhv2CenVa+V6ynG57/QDAJmOa9iq9Ok17etqUT9jkPvr7D+Z3v/REfu4H3p7r9gx0ejmr1w2TjOtZw8/+bPKBD6yPSdOtdvHx2bkzue227vj/oFZOwG33NN31NK23G16PKzlxogp2ZmZeO7djR3V84YXXzu3aVYXqBw+25utenDTf11cFkd3w+q/1WLT6+94M2vX69N/sALAmTNNeQVEUP1AUxdGiKGaKojhXFMX9RVH8SFEUjT02a/FbXKCrff/BG9K3pScf+4MHs+5/0bO0auTIkc68xy2ugqv1PnsxiFzPFUjNVnUu/hndeuvlH+9UdX4rKxfbWQW5niqj1sNk8VpViufPJxcuXHqu1ZWL9VQNr7VurdhcrXreq1pZpd6u179uJgDouE1dGVkUxc8neX+Sl5L8tyTzSb4tyVVJ/kOS7y3LcsVpFK9WRl60nqosgJb7rc8/ll/4Hw/lH/yFN+bukcFOL6c5K1WNJJ1/j1v8Pnv69PquQLpY1dVoVWetn9FS67HSZ63+P7STlVGNfo+11rptW1IU3VfZVatKMem+ysW10I0Vm6tRz3tVs+9na6HbK4sBYANaqTJy04aRRVF8d5LfSPJEkj9dluXJhfOvS/J7Sd6U5G+XZfmRle5zWRgJbGrnL5T5wK9+Ls+9NJ+P/uBtGejf0ukl1e/iP9aeeSb5vu9rbcBXK4BpRfC0ntvtVrP2Wm2g27YlZZls3bo+w4+1DDI61UbbzPe43Fr/7t+tBjpdKeyq53XW7tb6zfqL2o3yfdfzC6qVtoq4eE2nHodar7tkY4XFANCFhJE1FEVxf5Lbkry7LMtfXvKxdyX5/VRB5XVlWV64/A4VYSSw1Jcffy5/7zf+KN/19uvy1+++qdPLqc/if6y9/HLVWrm4zXA1Ad9K/xBsRfC0XiuQVgrELlZ9LveP9+XCgQceSM6dW3/hx1qEyp2ujGr2e1xNpfJ6r2ajO1wpEO/vT156KenpufR5uvSaTjy/ur3SHwA2MGHkEkVRXJ/ka0nmkuwpy/KyPreiKB5Ncl2Su8uyvG+5ewkjgVo+cuRk/vtXnsw///5bc+P+7Z1dzJWqc2r9Y62vL+ntXX3At1Ytpt1agbTSupb7R3K9A3nWawhbS7srFbuhMmo132O9P+t6A9ek84OPuvU1u16s5eNX7/v4Ut2wnYBhQgDQMQbYXO7iTv9/XCuIXHBiybUAdXvPXcPZ3rclH/2DU50dZrPckI7FQwZqbeY/MJB84hOrHwpR695btlQVNIutdnhAOwed1Gvp4IYrDUhZ7UCedg/uqDWIopXDKRZr58CP6enqMVz6mN5zz9oOPlnN91jPz7reITcf+1jnBx+tp+FB3aiRx68Vr9la71X33nv582vbtmqbiJWuWetBMRt1mBAArHO9nV5Ah1zsmzyzwjWPLLkWoG67t/fl3XcdyM//3oP56d/5Sq7a1oG32xdeSD76W8nbvuO1cx/9reSRMvmPv51s6U3Ov5L8pe9I3voXk/lXXruurzeZe11ybkfyxZkkM5fd/pKv88wzyd69yY4dSz7Wf/m9e3uTIpd/vW/0J793ajXf8cpqrXOltTfi859P/v1vXvqY/sffvvyxv+rNl36daw4mv/bJ19bwzDPJHd9TtTxetHVr8jt/nFx//TJffO+Vf0ar/X6+67ur80vPve1trfuaH/rX1f17tiQXzlf3X833dfFnOzt7hce0DY/fclb9PS6z1lqv9f/ypdqvvd/90qXXLdXoa7HR19By70tLXxut+nprda+1stLjl1z6/dR6HTf7ml36XpUkb/3S5e/jP/qjyctzK1+zmvf6F17Imy48nz975zfV98uni0Hq0spi1bgA0FGbtU37g0l+Ksm/Kcvyry5zzU8l+WCSXyjL8n1LPvZDSX4oSW688cbbzpxZKdMENqsLF8r8k//ylfzxY2sQctQyM5M88JnklfnXzm3pTcoL1Z6Qr57bkrzhm5KvfqVqqSvL5M1vSV5/zZW/xuNPJF/646Toqe5b6/NevWbRvZPLz9Xz9ZpVa52vrmGFtS9nbq4KuQYGqr8fPZqcP//ax3t6qj+vLAmCbrst2b175fsuvdeWLcmhQ5dXGLVLrTX0bKkC5Hava/Hjupr7Lv55X7iQpLz8Ob+Wj+lirfoeF6v1Wu/traq/Hn74tdfZTTclp89cel3PliRl9Xxd/Fqstc6l5+p5/de71ttuq+670mPTzNdbTivvtZau+LNe+H4uvqfXes0mLX6drfA+Xs81DXy9l7/y1byypTf/5t//nxn42EerKuG1HtIEANTFnpFLFEVxb5L/O8mvlGX515a5ZtkwcjF7RgJdq9Y+X1u3Vv/4fP75187VOzSlnvsvtx9YJyfstnrfyqX7D37wg8nP/Myle5Lt3FlV4Lz8cvP379RekLX2WFtcSXpRt+671s49UNuh3VPlkyvvI7l08FE9Q6cWbymw9Gs2M5Cn1l6p99zTnqFDazEwqV3qfT9b7r2+1QNlmg0CG33eL3zfX9p5Tf7+X/hb+cmj/zrf+sSX699jFwBYc/aMvNzF/zLbucI1Fz/2/ArXALRHu/b5+shHLq3WS17bP6vRfRdr7QfZ15d89rOXr73Wvddqn8dW7ltZa//Bn/qpy/ckO3++eqwXP/b1tga2ey/IK6m1x9r585dWFibdu+9aO/dAbbV69nStR63X+sXn2+LX2XLXvelNr11T6zn+3vdefu7Hf7wKeBer5zVU716p7353fXtgNrP/4HLvXWu5l2Gz6t2/sa/v8tfx3FwVRNazJ229z8F63seXXtPMnqELP7M3Tp/O/hdncmz41up9/Md/vL7vBwDoKps1jDy9cDywwjU3LLkWYG20crjD0mDrfe9bPrRoVK3QanY2+c7v7K7BFK0M12qFGP39VXXk0sf0fe9rPlTs5ECeWmHHxz/euudNOywOTpYbWHHrrZ0fcrTYcoN1Fg+YaeQ1VG+IfaXrGgnvWzWQ5+1vv/xrzs9fOfRvNhBfj0NNFj/Ha72v1/MLkXoHyrRzwNByz/srBYgLP7OelBk787k8cN2b8mLZs35DZQDY5DZrm/YNqQbUzCXZU2uidlEUX0tyfZKxsiyPL3cvbdpAS61V+2CrWqQXtxTPzVUB3+J/FHey9XHx93jkyOWtz0nj7dD1tsN2S+C1Gp1srW/ESi3F3diWfVGtdvjVtPe3SiPbGlysaFzt41zray61uMW4FT/XTm+H0Ihaz/Gla13u+1n8mk2u3Ka/3DWteg7Wet7Xu+XDwvf45dfdnL/3rT+Un3jr7vyZe394fbbbA8AmYM/IGoqieCDJ25O8uyzLX17ysXcl+f0kTyS5rizLC5ffoSKMBFpqNf9QSzoTFl38ms88k3zf9zW/9laq9Y/3xfvPrSZcW08hRtKdAWKrdFM43OQeeHXv6bqWr6Faz/HkymHXWvxiI6nv6631UJN2vc5WuzfvUkt/thMT1c9ypT1wW/kcXO0v3Kanc+HhhzPx2bncdO2+/O/nPr++3o8BYBMRRtZQFMX3JPn1VIHjobIsTy2cvzrJ7yV5c5K/XZblR1a6jzASaKlGw5Va1X+d2si/W4ZCrMU61kvAV09F1Xq22vC+VZp9nJcGQ80OhWmHTlTGXqmaud7n7lo/79v59drxHL/4OO/cWU0xb9Vwr3rVU8V5ha/1/x59KL/9R4/nV/7GHdn53DPr4/0YADYZYeQyiqL4F0l+OMlLSY4kmU/ybUl2JflEku8py/L8SvcQRgItt1JV0nLTbV9+uTtapLuharBbAqrldHKK+EZrKe9UAF5P62u9j/PS50M3vIa6RTOvlbV+TrT767Xz/su9V7ayHX45yz3v6wx0v/qN5/OTv/b5/O17RvNtb3rdle8PAKw507SXUZbl+5P8YJLPJHlXkj+f5FSSH03y3VcKIgHaYulwgnvuufJ025deunyAQSc28u/0JOhk9cMpWjHJfDntHAyx1HITg5sdkNKNVpoi3awr/fyX/gyXm/Jc7+O8dFhRN7yGukUzg5zWelJ2u79eO57jFy33Xrma4Vv1WvyzbWKozejVO3P1VVtz9OTZyz+4lu+zAEBTNnVlZCuojATarlb1yo4d1fGFF5b/vM28kX+z1WXtbLfshoqtlVowk+YqibqhAqnV+xYu9/Ov9zFdi1ZXamvBnoSr3vuzm4eOLdUNlbhNVrP/q+MP5xOfeyy/MvGOXLWtrzrZLduFAAAqIwHWtVrVK+fPV23Zi/X1tad6Zj1qprqsieqchqx1xVatiqp7721ttWS3VCA1U0G31Eo//4vVkp/97OWPX39/NfSjnsd5rSuVN6PVVBI283xuZ+Xi0q+z2ud4Ld1QidtkNfvYyGAuXCjzqYeefu3kWr/PAgBNURm5SiojgTVR73TbWhOjqU+795rs1v0Nm63i22gVSFfaP+9Ke7Mm9e0juR4fm/VoaSXhlSoL17qikks1UaFZlmX+5i/fn+v3bs//8ZffUp3caO9LALCOrVQZ2bvWiwGgCePjtYPGWuf8g6s5q91r8kouVlAt/Qd3u39eQ0OXfo2la/jgB5Of+ZlL//F+sZJopbVdrEBq9PO6Va2f/9xcFUTOzr72fV6sQK71M1zpcd7MlcqdsPh5X8/2C6t9Pi99ndGY5f4/bgVFUWRsZDD/4XOP5bmX5rNrW1/n3mcBgIaojFwllZEAG8hy1TmtrHrqhgqqeqdBb6bKyOTyn//FoHZpteSv/3qyd++Vf4bd8LPe7Op9nm7E5/MmcOrJc/nAr34uP/ZnR/Ln3nLNax/w2gOAjrNnJADUo9b+aa3eF7Fde781u4Zm97xbq73y1tLSn//73le7WvbWW+v7GXbDz3qzq3cPwY34fN4EbhnakWt2b8uxU0umanvtAUBXUxm5SiojATawzVQt1Wwl0UavQOqGacM0r9HXcD3P543+nF9nfvmTp/ObDzyaX564I7sH+jq9HABggcpIAGjGZprM2mwl0UavQOqGacM0r9GKx1rP54vT1Kenu2eCPK8aGxnMhTL55INPdXopAECdDLABgOW0e6gN64PhJOtbE8NRXrV4+M3iaeoXKy0nJqp7e350zE2DO3Ltnm05dmo63/6nrrnyJwAAHacyEgCWYx852BiaqeCdnq7CxtnZaojRSy9d/suJjVopvY5cnKr9hUdnMvPi/OputrgKFgBoG2EkAKxEmy5sTrW2aVhKpXRXGBsdqlq1Hzp75YuXowUfANaMMBIArmSj74sIXK7WNg19fSqlu9Dw/u25bs9Ajp5sMoxcWgU7O1v9XYUkALSFMBIAAJaqtU3DL/2SSukuVBRFxkYH88Wvz+TZF+eu/AlLbaZhZQDQBYSRAABQS61tGlRKd6VDo9VU7eOnmpiqbVgZAKwpYSQAACxH+Lgu3Lhve27YN5Bjp5porTasDADWVG+nFwAAALAa1VTtofy7E4/k6Rfmsm/HFYYPLTU+ntxzT9WaPTwsiASANlIZCQAArHtjI4Mpy+S+B5scZKMKFgDWhDASAABY927cvz037t+eY81O1QYA1oQwEgAA2BAOjQzmS48/l7PnXu70UgCAZQgjAQCADeHuV1u1m5iqDQCsCWEkAACwIdywb3uGB3fk2MkmpmoDAGtCGAkAAGwYh0YG8+XHn9eqDQBdShgJAABsGHePDiZJjp8yyAYAupEwEgAA2DCu2zOQmwZ3tGaq9vR0cuJEdQQAWkIYCQAAbChjo4P5kyeez5PPv9T8TaamkgMHksOHq+PUVOsWCACbmDASAADYUMZGqlbt+041OVV7ejqZmEhmZ5OZmeo4MaFCEgBaQBgJAABsKNfuGcgtQztytNlW7dOnk/7+S8/19VXnAYBVEUYCAP9/e/ceb0dV3338+0tykhwIh1sOFwUTLkGBWi5JVCAK1mCxVvGC1FMVeDhaivpAsaBPsfWpbaVVsYiKgBrEFg0tIGjxVesTKWh8FBJCARE1QRJuQk5ISMj9tvrHWtMzmczsPXufvWf27P15v17zmpyZWXuvPbNmztm//NZaANB15swY1K+fe1HPrWuiq/b06dLWrbtu27bNbwcAAGNCMBIAAABA14m6ajc1q/bgoDRvntTfLw0M+PW8eX47AAAYE4KRAAAAALrOQXtP1owDpjQ/q/bQkLRihbRggV8PDbW2ggAA9CiCkQAAAAC60ilHTtXSlev17NomZ9UeHJRmzyYjEgCAFiIYCQAAAKArzZnhu2ovbKarNgAAaAuCkQAAAAC60oEDkzXjwClauHSk7KoAAICAYCQAAACArvXaGVP12MgGPfPCprKrAgAARDASAAAAQBc75Qi6agMA0EkIRgIAAADoWgcMTNbLD9qr+Vm1AQBASxGMBAAAANDVXjtjqh5ftUFP01UbAIDSEYwEAAAA0NVOOdJ31f4J2ZEAAJSOYCQAAACArjZ1yiQdffBe+vFYx40cGZEWLfJrAACK1EW/gwhGAgAAAOh6c2YMavmqDXpy9cbmXmD+fGnaNOn00/16/vzWVhAAgCxd9juIYCQAAACArnfyEfvLTPpJM9mRIyPS8LC0aZO0dq1fDw93RXYK0DZdlMUFlKoLfwcRjAQAAADQ9aZOmaRjDh5orqv28uXSxIm7buvr89sB7K7LsriAUnXh7yCCkQAAAAB6wpwZU/XE8xv1xPMNdtWePl3aunXXbdu2+e0AdlUriystW5IMSqC2LvwdRDASAAAAQE84+YipMpMWNpodOTgozZsn9fdLAwN+PW+e394LCBahEVlZXNdfv3u2JBmUQH1d+DvInHNl16HSZs2a5RYvXlx2NQAAAADk8BfffkjrNm3XNe85sfHCIyM+0DJ9eqW/BDZk/nyf1TZxos/MmTdPGhoqu1at14vXtl1GRnxgcdOm0W2TJ0tm9bf190srVrT3GnCtOwvXI78qnauREe11wAGPvujcMWm7yYwEAAAA0DPmHDmoJ1Y30VVb8l/+Zs/u/C+BrdKFkyakIjuvtdKyuD7+8d2zJcePl8YlQhLtHgePa91ZuB6NqcrvoHBdZ0hHZR1CZuQYkRkJAAAAVMeaDVt13tfv09mzD9V7Xj2t7Op0tkWLfJBg7drRbQMD0oIF/gtxN0jL4isiO6/q8mRoxY+R8mVLtvPcc607C9ejNTotWzJ2XWdJWuycpR1GZiQAAACAnrHvnhN17Ev31sKlq0RiRh1dOGnCbrpwltqWS44ZmjebLZ7FlZYtecMNxY6D1+nXutfGZu3061EFWfdimW0p7bqmIBgJAAAAoKe89sipemrNJi1vpqt2UjcHELpw0oTdtCPg2k1tIhnsuP765rvuDw35rLcFC/x6aCh9W7t0cnC9F7srZ12PKVO65/5pp6xhNNImiipS2nVNQTASAAAAQE856Yj9Nc6khUvH+GW3E7NSWq3IYFEZagVcm7mO3RRUSgt2XHyxNGHCrsc1ks2WNuZdUePgdWpwvVfGZpV2vafSrsfwsDRzZnfcP+2WloE4fry/R8tsS7HrulPakXUYY0aOEWNGAgAAANXzl3c8rJEXt+i6986UWeqQVrVljXd21VXSJZcw+3TVJD9P3lnE642LWOUx8NLGDJ0yxWevbdkyuq1qn7HT2m4vjM0qZd9T0fWYMsUHIrvl/mm3tN9Bkyb58/vii6PbympLzKYNAAAAALuac+RUPfPCZj2+akNzL9CpWSlFaHf2XxmZpfHsvLyZamldmKs+Bl783Kd1t9yxQ7r66s7LLmxEp81I3Mndx1ul1j0VXY/166t//xQpLbP06qul7dt3Pa6stjQ4qPVS5lgoBCMBAAAA9JyTDp/qu2ovW9XcC2QFELr9y3S7u5R2QjfnPBNrpJ2HT32q2kGl5LlfsCC9W/MFF3RG1/1uGQ6hU7uPt1Kee6oXgrKtlhxG44ILKtOWCEYCAAAA6Dl779Gn3z1kH/242Vm1G81K6ZbASTtnwC1q7Lx61yLPxBpp52HiROnyyysRCNhN1rmfOzc98JjMLmx3+252Ru+q3HedMjZru85XnkBjLwRl2yF5L3ZKW6qDYCQAAACAnjRnxlQ9u3azHhtpsqt23qyUBQvKz/ZrlXZmL7Uz0BnJE8TKM7HGkiXp56FTsgYbVevc1+vW3O5s1mZn9O6ELNtGlN19vJ3nK2+gMSuQljdIWpXgc7uV3ZZyYAKbMWICGwAAAKCa1m3epvfNu09vP/4lOu+Uw1r3wt08qYk0OhFFX58PwLVqkp6sSYFada4aff16E2tEkxW1+jwUpRXttIxrVmuSjunTmQylGe2+jvH3aXTyoLyTSeU9DoUxs/udc7PS9pEZCQAAAKAnDUzu0wmH7qOFy5rsqp0lnpVSRLZf0drVDbDd3TQbvRb1JtY48cRqZkFK+ceHrHfu29G+49ltWa+flpW6ZMnoZzrhhN1ft1a9qpxRl1b3vNsiRT2nGs3Yyzt0Q1FDPBStyu2yjgllVwAAAAAAynLKkVP1hR8u1bKV6zXjwL1a/wbdOinD4GB7MsyGhvw4hXmypxrNsmr2WtQq167z0E7xwE2UCTc87AOqK1YUc06zJLPbrroqe0bveFZqlKUa/0xJWfWqckZdWt2lfNvi91mnPqeiIGn8msaHD2j0uCqpcrvMgcxIAAAAAD3rNYfvp/HjrPlZtethUobG5cmeamZ8u2avxVivYadlN41lfMikVrbvtOy2Sy7xgcZ6M3qfeOLun2nyZN+lu1a9ysqoa8UYiGl1P//8fNvOPXdsmbF56t+Kdl8rSBp//U4NpjarWzM9YwhGAgAAAOhZe03u0/GH7qOFzc6qnUdFZjeV1HwAociA21i+qDd7LZot14mTqLQ6cNOq9p0VJM3qDh8PnKZ9JjPpgQdq16uMYRTytol6x6XVffx4ady4+tu2bcs/c3oz9W9Vu88KdicnBcsKpkqd/zxL0+nDeyTPTxPniwlsxogJbAAAAIBq++Gjz+nzC5bqb848VodN3bPs6pTnttukiy6WJvZJW7dJX7haeuc7my+36nnpySekQ18mTd0/u3ze4yIPPCC94x3SunWj2/baS7r99vSxAsuy6nnpuOOkzbGuo5P7pQcfzPc52ym6Zn0TpG3b81/rdhrr+WrmMxV9jfK+X57j0o6ZNNkHYettS8p7/zRbr7Ge0/gzQsp+fWn0uHvubu3zrFmNPt+iMp3+7IjOz3vfK910U+r52nfPSZkT2BCMHCOCkQAAAEC1rd+yXe+bd6+27+jA70bbt0lbtkqTJkoT+tr7Pg89LO3cObpt3Djpd19Z+32zyh16qPTkkz4I4pzPXNtvv93Lr17ts33qHdeKuhZtwwbp17/2YxxGxo+XjjpK2rMDgt5Fta1GNNMe4pr5TGN9z0bkbRN5j0uru1R/m5y0M/a8y3v/5KlXu9t9ntdv9fOs2WfLWNpWke0yr7TzkxQ7X3de9NrMYCQT2AAAAADoaVMmTdAn33qsnlpTI3OoDAsXSl+9VpowQdq+XbrwQmnOnPa817Jl0j/fKW3cOLqtv1966wnSkUc0Vm7yZGnRdl/nyP0TpWuv9V0oI+vWSRd+YtfutWnHpZm8yh83frwPSlx4oTTnFfk+a1HWrZO+9eldP9/EidJwjs/Xs46Q1r1cWrlSOuCAgs5Tzvdct27s9crbJnK3nYy619v20EPN3T956tXudp/n9Vv5PMtTLlm/lSv9c/Bjn2/u+Sap5fdCK9pv2vlJip2vO2u8FJmRY0RmJAAAAICWiM8OLfmx0OKzw/b3+7Hc2jH5zchIc++XVm7SJB8cePHF0W0DA35ct9mzR7ctWuTHfFu7tvZx0fskZ3ludDbtMkQz4kazPnfZjLg9o5UzG+dtE+1uO83eP3nq1e6613v9Vj7PonJS/fMVbyebN/sswfhrZT3f2q1V7Tft/CTFzrOZ0U27XQhGAgAAAGhYMhCQ/LJ4+eXSlVfmC9S1SrMBhGS5q67ysyDXCwTkDRg08kW6EwOUeetU1YBrt2s2sFXvNZttE50gT73aXfd6r9+q51k0EU69Z1AjgTqpuOva6va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      "text/plain": [
       "<Figure size 1584x1296 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "ax1 = data_groundtruth.plot(kind='line', x='time', y ='velocity', label='ground truth', figsize=(22, 18), alpha=.8, title='Kalman Filter versus Ground Truth Velocity')\n",
    "ax2 = result.plot(kind='scatter', x = 'time', y = 'velocity', label='kalman', ax=ax1, color='r')\n",
    "ax2.set(xlabel='time (milliseconds)', ylabel='velocity (km/h)')\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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